BOOSTXL-DRV8323RH: LAUNCHXL-F280025C + BOOSTXL-DRV8323RH : ESTIMATOR_MODE_HALL out of speed control

Hi,

<<Motor Identified DONE >>

#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (2)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.417366356f)
#define USER_MOTOR1_Ls_d_H (0.000496407447f)
#define USER_MOTOR1_Ls_q_H (0.000496407447f)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.0322647803f)

<<HALL Calibrate DONE>>

0.0
1.77644563
-0.241166204
0.768287063
-2.42159128
2.83631182
-1.31847191

Now my motor can start  with :

systemVars.estType = EST_TYPE_FAST_HALL

motorVars_M1.estimatorMode = ESTIMATOR_MODE_FAST

motorVars_M1.speedRef_Hz = 40.0

when change estimatorMode to ESTIMATOR_MODE_HALL on-the-fly, it's smooth transition (see below)

however when increase motorVars_M1.speedRef_Hz little bit e.g. from 40.0 to 50.0, my Motor spin uncontrollably very fast ~380

also when start with HALL only:

systemVars.estType = EST_TYPE_HALL

motorVars_M1.estimatorMode = ESTIMATOR_MODE_HALL

motorVars_M1.speedRef_Hz = 30.0

once motorVars_M1.flagEnableRunAndIdentify -> 1, my Motor spin uncontrollable to  ~380

can you help to point out which parts I should focus to ? PI value ? 

Thx,

Tiger