Odrive motor tunning

I have some questions about that if i want to achieve variable speed control.How can I tunning the parameter of Innermost ring or Torque ring.

The torque/current loop is automatically tuned according to the phase_resistance, phase_inductance, and motor.config.current_control_bandwidth.

The velocity tuning can be done by putting the ODrive in Velocity Control mode and tuning it like any other PI controller. Set integrator to 0, increase vel_gain until it’s too aggressive, back it off about 30-40%, and then increase vel_integrator_gain until it looks good.