@tokol0sh has made a PR for the first revision of voltage control for high resistance motors (Gimbal type motors).
Awesome, thanks for your contribution. I'll have a look, will take me a couple of days before I have a time slot to set up a gimbal motor test rig.
Just out of curiosity, what is the motor you are using? I see some interesting things like
POLE_PAIRS is 1.
Also, I saw that you changed the position control to use the encoder directly. I see that you are using a 200PPR encoder? If so, you may wish to substantially reduce the PLL gain, and that may improve the smoothness. That said, I was actually conflicted myself weather to use the encoder directly or the PLL filtered version for the position control, I think the argument for both are valid.
Maybe you can describe the symptoms you were having with using the PLL pos as feedback? Maybe I can make a code hack to emulate a low resolution encoder on my rig, and test it out too.