[sean69_uk]

Please include * 0.02 in the FACTOR. Or change the 200 to 4.0 (the decimal can be important to force floating point math).

i cant seem to find where the FACTOR value is is the 200 that needs changing V =200 in the step/response screen ?

Also change the Trajectory Planner Threading Configuration from 200 to 4 to correct the RPM readout, There are 4 units per rev.

This works perfectly

On a side note somehow I think missed this earlier scope trace.

Attachment 467296

One thing I see it that the sensors are not indicating a good 90 degree phase shift well. Towards the middle they are almost in phase which could cause errors or counting backwards. You might try to adjust that.

i will check into this , also on the last check when i was measuring the frequency , trace was a little noisy