Anti-Cogging on FW 0.4.8

Good morning everyone.

I have a clone on wich i can only run the 0.4.8 firmware (older can’t be uploaded on and newer simply didn’t work)

The motor turns like a charm but my only need today is to test the anticogging

The motor can turn at 2400rpm (14 pole pairs, 230kv, TMOTOR7005) and also at 1 turn every 8 seconds with no problems

But when i try to lauch odrv0.axis0.controller.start_anticogging_calibration() the motor spins like 20° and starts to vibrate. I tried to increase and decrease the pos, vel and vel_integrator gains without any success.

I found on the GitHub the documentation for the anti-cogging on 0.5.x version but nothing in an older versions.

So i tried the same procedure as in this guide but in 0.4.8 i didn’t manage to find the equivalent for this command odrv0.axis0.controller.config.input_mode = INPUT_MODE_PASSTHROUGH

Have you an idea how to solve that ?

Did the 0.4.x firmwares have a functional anticogging feature ?