diff --git a/Firmware/LowLevel/platformio.ini b/Firmware/LowLevel/platformio.ini
index 8fcaa171..6ed4e0c2 100644
--- a/Firmware/LowLevel/platformio.ini
+++ b/Firmware/LowLevel/platformio.ini
@@ -42,6 +42,8 @@ debug_build_flags = -O0 -g -ggdb
 
 build_src_filter = +<*> -<.git/> -<.svn/> -<imu/*> -<soundsystem.cpp>
 
+build_flags = -DSHUTDOWN_ESC_WHEN_IDLE
+
 [env:0_13_X]
 lib_ignore = JY901_SERIAL,JY901_I2C
 lib_deps = ${env.lib_deps}
diff --git a/Firmware/LowLevel/src/datatypes.h b/Firmware/LowLevel/src/datatypes.h
index f5f931a1..96494114 100644
--- a/Firmware/LowLevel/src/datatypes.h
+++ b/Firmware/LowLevel/src/datatypes.h
@@ -57,7 +57,7 @@ struct ll_status {
     // Bit 0: Initialized (i.e. setup() was a success). If this is 0, all other bits are meaningless.
     // Bit 1: Raspberry Power
     // Bit 2: Charging enabled
-    // Bit 3: don't care
+    // Bit 3: ESC power
     // Bit 4: Rain detected
     // Bit 5: Sound available
     // Bit 6: Sound busy
diff --git a/Firmware/LowLevel/src/imu/LSM6DSO/imu.cpp b/Firmware/LowLevel/src/imu/LSM6DSO/imu.cpp
index a22af4bf..e5e040a5 100644
--- a/Firmware/LowLevel/src/imu/LSM6DSO/imu.cpp
+++ b/Firmware/LowLevel/src/imu/LSM6DSO/imu.cpp
@@ -49,12 +49,16 @@ bool imu_read(float *acceleration_mss, float *gyro_rads, float *mag_uT) {
     success &= IMU.Get_X_Axes(accelerometer) == 0;
     success &= IMU.Get_G_Axes(gyroscope) == 0;
 
-    acceleration_mss[0] = accelerometer[0] * 9.81 / 1000.0;
-    acceleration_mss[1] = accelerometer[1] * 9.81 / 1000.0;
+    // Left down: Y = -g
+    acceleration_mss[1] = accelerometer[0] * 9.81 / 1000.0;
+    // Nose down: X = -g
+    acceleration_mss[0] = -accelerometer[1] * 9.81 / 1000.0;
+    // Flat: Z = +g
     acceleration_mss[2] = accelerometer[2] * 9.81 / 1000.0;
 
-    gyro_rads[0] = gyroscope[0] * (PI / 180.0) / 1000.0;
-    gyro_rads[1] = gyroscope[1] * (PI / 180.0) / 1000.0;
+    // Datasheet shows gyro and acceleromter axes are aligned
+    gyro_rads[1] = -gyroscope[0] * (PI / 180.0) / 1000.0;
+    gyro_rads[0] = gyroscope[1] * (PI / 180.0) / 1000.0;
     gyro_rads[2] = gyroscope[2] * (PI / 180.0) / 1000.0;
 
     mag_uT[0] = 0;
diff --git a/Firmware/LowLevel/src/imu/MPU9250/imu.cpp b/Firmware/LowLevel/src/imu/MPU9250/imu.cpp
index 1a901b9a..91275c8b 100644
--- a/Firmware/LowLevel/src/imu/MPU9250/imu.cpp
+++ b/Firmware/LowLevel/src/imu/MPU9250/imu.cpp
@@ -20,14 +20,20 @@ bool imu_read(float *acceleration_mss, float *gyro_rads, float *mag_uT)
 {
     IMU.readSensor();
 
-    acceleration_mss[0] = IMU.getAccelX_mss();
-    acceleration_mss[1] = IMU.getAccelY_mss();
+    // TODO: test this
+    // Left down: Y = -g
+    acceleration_mss[1] = -IMU.getAccelX_mss();
+    // Nose down: X = -g
+    acceleration_mss[0] = IMU.getAccelY_mss();
+    // Flat: Z = +g
     acceleration_mss[2] = IMU.getAccelZ_mss();
 
-    gyro_rads[0] = IMU.getGyroX_rads();
-    gyro_rads[1] = IMU.getGyroY_rads();
+    // MPU-9250 Datasheet shows gyro and acceleromter axes are aligned
+    gyro_rads[1] = -IMU.getGyroX_rads();
+    gyro_rads[0] = IMU.getGyroY_rads();
     gyro_rads[2] = -IMU.getGyroZ_rads();
 
+    // Mag is NED coordinates
     mag_uT[0] = IMU.getMagX_uT();
     mag_uT[1] = IMU.getMagY_uT();
     mag_uT[2] = IMU.getMagZ_uT();
diff --git a/Firmware/LowLevel/src/imu/WT901_I2C/imu.cpp b/Firmware/LowLevel/src/imu/WT901_I2C/imu.cpp
index 28c2647f..af7a115e 100644
--- a/Firmware/LowLevel/src/imu/WT901_I2C/imu.cpp
+++ b/Firmware/LowLevel/src/imu/WT901_I2C/imu.cpp
@@ -23,6 +23,7 @@ bool imu_read(float *acceleration_mss, float *gyro_rads, float *mag_uT)
     IMU.GetMag();
     IMU.GetGyro();
 
+    // WT901 axes seem to be corrected?
     acceleration_mss[0] = (float)IMU.stcAcc.a[0] / 32768.0f * 16.0f * 9.81f;
     acceleration_mss[1] = (float)IMU.stcAcc.a[1] / 32768.0f * 16.0f * 9.81f;
     acceleration_mss[2] = (float)IMU.stcAcc.a[2] / 32768.0f * 16.0f * 9.81f;
diff --git a/Firmware/LowLevel/src/imu/WT901_SERIAL/imu.cpp b/Firmware/LowLevel/src/imu/WT901_SERIAL/imu.cpp
index 7127e081..a7f113ae 100644
--- a/Firmware/LowLevel/src/imu/WT901_SERIAL/imu.cpp
+++ b/Firmware/LowLevel/src/imu/WT901_SERIAL/imu.cpp
@@ -23,6 +23,7 @@ bool init_imu()
 
 bool imu_read(float *acceleration_mss, float *gyro_rads, float *mag_uT)
 {
+    // WT901 axes seem to be corrected?
     acceleration_mss[0] = (float)IMU.stcAcc.a[0] / 32768.0f * 16.0f * 9.81f;
     acceleration_mss[1] = (float)IMU.stcAcc.a[1] / 32768.0f * 16.0f * 9.81f;
     acceleration_mss[2] = (float)IMU.stcAcc.a[2] / 32768.0f * 16.0f * 9.81f;
diff --git a/Firmware/LowLevel/src/main.cpp b/Firmware/LowLevel/src/main.cpp
index fb642f4b..b4e02088 100644
--- a/Firmware/LowLevel/src/main.cpp
+++ b/Firmware/LowLevel/src/main.cpp
@@ -36,6 +36,7 @@
 #define LIFT_EMERGENCY_MILLIS 100  // Time for both wheels to be lifted in order to count as emergency (0 disable). This is to filter uneven ground.
 #define BUTTON_EMERGENCY_MILLIS 20 // Time for button emergency to activate. This is to debounce the button.
 
+#define SHUTDOWN_ESC_MAX_PITCH 15.0 // Do not shutdown ESCs if absolute pitch angle is greater than this
 // Define to stream debugging messages via USB
 // #define USB_DEBUG
 
@@ -118,6 +119,7 @@ bool ROS_running = false;
 unsigned long charging_disabled_time = 0;
 
 float imu_temp[9];
+float pitch_angle = 0, roll_angle = 0, tilt_angle = 0;
 
 uint16_t ui_version = 0;                   // Last received UI firmware version
 uint8_t ui_topic_bitmask = Topic_set_leds; // UI subscription, default to Set_LEDs
@@ -388,6 +390,9 @@ void setup() {
     pinMode(PIN_ENABLE_CHARGE, OUTPUT);
     digitalWrite(PIN_ENABLE_CHARGE, HIGH);
 
+    pinMode(PIN_ESC_SHUTDOWN, OUTPUT);
+    digitalWrite(PIN_ESC_SHUTDOWN, LOW);
+
     gpio_init(PIN_RASPI_POWER);
     gpio_put(PIN_RASPI_POWER, true);
     gpio_set_dir(PIN_RASPI_POWER, true);
@@ -671,6 +676,12 @@ void loop() {
         sendMessage(&imu_message, sizeof(struct ll_imu));
 
         last_imu_millis = now;
+
+        // Update pitch, roll, tilt
+        pitch_angle = atan2f(imu_temp[0], imu_temp[2]) * 180.0f / M_PI;
+        roll_angle = atan2f(imu_temp[1], imu_temp[2]) * 180.0f / M_PI;
+        float accXY = sqrtf((imu_temp[0]*imu_temp[0]) + (imu_temp[1]*imu_temp[1]));
+        tilt_angle = atan2f(accXY, imu_temp[2]) * 180.0f / M_PI;
     }
 
     if (now - last_status_update_millis > STATUS_CYCLETIME) {
@@ -686,6 +697,21 @@ void loop() {
 #else
         status_message.charging_current = -1.0f;
 #endif
+
+#ifdef SHUTDOWN_ESC_WHEN_IDLE
+        // ESC power saving when mower is IDLE
+        if(!ROS_running || last_high_level_state.current_mode != HighLevelMode::MODE_IDLE || fabs(pitch_angle) > SHUTDOWN_ESC_MAX_PITCH) {
+            // Enable escs if not idle, or if ROS is not running, or on a slope
+            digitalWrite(PIN_ESC_SHUTDOWN, LOW);
+            status_message.status_bitmask |= 0b1000;
+        } else {
+            digitalWrite(PIN_ESC_SHUTDOWN, HIGH);
+            status_message.status_bitmask &= 0b11110111;
+        }
+#else
+        status_message.status_bitmask |= 0b1000;
+#endif
+
         status_message.status_bitmask = (status_message.status_bitmask & 0b11111011) | ((charging_allowed & 0b1) << 2);
         status_message.status_bitmask = (status_message.status_bitmask & 0b11011111) | ((sound_available & 0b1) << 5);
 
diff --git a/configs/xESC/YardForce_Classic_Drive_App.xml b/configs/xESC/YardForce_Classic_Drive_App.xml
index 576b43a9..271c2919 100644
--- a/configs/xESC/YardForce_Classic_Drive_App.xml
+++ b/configs/xESC/YardForce_Classic_Drive_App.xml
@@ -15,7 +15,7 @@
     <uavcan_raw_mode>0</uavcan_raw_mode>
     <uavcan_raw_rpm_max>50000</uavcan_raw_rpm_max>
     <servo_out_enable>0</servo_out_enable>
-    <kill_sw_mode>0</kill_sw_mode>
+    <kill_sw_mode>4</kill_sw_mode>
     <app_to_use>3</app_to_use>
     <app_ppm_conf.ctrl_type>0</app_ppm_conf.ctrl_type>
     <app_ppm_conf.pid_max_erpm>15000</app_ppm_conf.pid_max_erpm>
diff --git a/configs/xESC/YardForce_Classic_Drive_Motor.xml b/configs/xESC/YardForce_Classic_Drive_Motor.xml
index e0d0093c..2957a3e9 100644
--- a/configs/xESC/YardForce_Classic_Drive_Motor.xml
+++ b/configs/xESC/YardForce_Classic_Drive_Motor.xml
@@ -1,14 +1,13 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <MCConfiguration>
-    <ConfigVersion>2</ConfigVersion>
     <pwm_mode>1</pwm_mode>
     <comm_mode>0</comm_mode>
     <motor_type>2</motor_type>
     <sensor_mode>0</sensor_mode>
     <l_current_max>2</l_current_max>
     <l_current_min>-2</l_current_min>
-    <l_in_current_max>5</l_in_current_max>
-    <l_in_current_min>-5</l_in_current_min>
+    <l_in_current_max>1</l_in_current_max>
+    <l_in_current_min>-1</l_in_current_min>
     <l_abs_current_max>15</l_abs_current_max>
     <l_min_erpm>-100000</l_min_erpm>
     <l_max_erpm>100000</l_max_erpm>
@@ -24,7 +23,7 @@
     <l_temp_fet_end>90</l_temp_fet_end>
     <l_temp_motor_start>85</l_temp_motor_start>
     <l_temp_motor_end>100</l_temp_motor_end>
-    <l_temp_accel_dec>0.15</l_temp_accel_dec>
+    <l_temp_accel_dec>0</l_temp_accel_dec>
     <l_min_duty>0.005</l_min_duty>
     <l_max_duty>0.95</l_max_duty>
     <l_watt_max>1.5e+06</l_watt_max>
@@ -187,7 +186,7 @@ p, li { white-space: pre-wrap; }
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Some comments about the motor quality. Images can be added as well.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</motor_quality_description>
-    <bms.type>1</bms.type>
+    <bms.type>0</bms.type>
     <bms.t_limit_start>45</bms.t_limit_start>
     <bms.t_limit_end>65</bms.t_limit_end>
     <bms.soc_limit_start>0.05</bms.soc_limit_start>
diff --git a/configs/xESC/YardForce_Classic_Mower_App.xml b/configs/xESC/YardForce_Classic_Mower_App.xml
index 576b43a9..271c2919 100644
--- a/configs/xESC/YardForce_Classic_Mower_App.xml
+++ b/configs/xESC/YardForce_Classic_Mower_App.xml
@@ -15,7 +15,7 @@
     <uavcan_raw_mode>0</uavcan_raw_mode>
     <uavcan_raw_rpm_max>50000</uavcan_raw_rpm_max>
     <servo_out_enable>0</servo_out_enable>
-    <kill_sw_mode>0</kill_sw_mode>
+    <kill_sw_mode>4</kill_sw_mode>
     <app_to_use>3</app_to_use>
     <app_ppm_conf.ctrl_type>0</app_ppm_conf.ctrl_type>
     <app_ppm_conf.pid_max_erpm>15000</app_ppm_conf.pid_max_erpm>
diff --git a/configs/xESC/YardForce_Classic_Mower_Motor.xml b/configs/xESC/YardForce_Classic_Mower_Motor.xml
index 436424de..50797c4f 100644
--- a/configs/xESC/YardForce_Classic_Mower_Motor.xml
+++ b/configs/xESC/YardForce_Classic_Mower_Motor.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <MCConfiguration>
-    <ConfigVersion>2</ConfigVersion>
     <pwm_mode>1</pwm_mode>
     <comm_mode>0</comm_mode>
     <motor_type>2</motor_type>
@@ -10,9 +9,9 @@
     <l_in_current_max>2</l_in_current_max>
     <l_in_current_min>-1</l_in_current_min>
     <l_abs_current_max>15</l_abs_current_max>
-    <l_min_erpm>-100000</l_min_erpm>
-    <l_max_erpm>100000</l_max_erpm>
-    <l_erpm_start>0.8</l_erpm_start>
+    <l_min_erpm>-14100</l_min_erpm>
+    <l_max_erpm>14100</l_max_erpm>
+    <l_erpm_start>0.95</l_erpm_start>
     <l_max_erpm_fbrake>300</l_max_erpm_fbrake>
     <l_max_erpm_fbrake_cc>1500</l_max_erpm_fbrake_cc>
     <l_min_vin>8</l_min_vin>
@@ -24,7 +23,7 @@
     <l_temp_fet_end>90</l_temp_fet_end>
     <l_temp_motor_start>85</l_temp_motor_start>
     <l_temp_motor_end>100</l_temp_motor_end>
-    <l_temp_accel_dec>0.15</l_temp_accel_dec>
+    <l_temp_accel_dec>0</l_temp_accel_dec>
     <l_min_duty>0.005</l_min_duty>
     <l_max_duty>0.95</l_max_duty>
     <l_watt_max>1.5e+06</l_watt_max>
@@ -48,8 +47,8 @@
     <hall_table__6>4</hall_table__6>
     <hall_table__7>-1</hall_table__7>
     <hall_sl_erpm>2000</hall_sl_erpm>
-    <foc_current_kp>0.597682</foc_current_kp>
-    <foc_current_ki>574.348</foc_current_ki>
+    <foc_current_kp>0.5977</foc_current_kp>
+    <foc_current_ki>574.35</foc_current_ki>
     <foc_f_zv>25000</foc_f_zv>
     <foc_dt_us>0.12</foc_dt_us>
     <foc_encoder_inverted>0</foc_encoder_inverted>
@@ -63,11 +62,11 @@
     <foc_sensor_mode>2</foc_sensor_mode>
     <foc_pll_kp>2000</foc_pll_kp>
     <foc_pll_ki>30000</foc_pll_ki>
-    <foc_motor_l>0.000597682</foc_motor_l>
-    <foc_motor_ld_lq_diff>2.3181e-05</foc_motor_ld_lq_diff>
-    <foc_motor_r>0.574348</foc_motor_r>
-    <foc_motor_flux_linkage>0.00712734</foc_motor_flux_linkage>
-    <foc_observer_gain>1.96854e+07</foc_observer_gain>
+    <foc_motor_l>0.00059768</foc_motor_l>
+    <foc_motor_ld_lq_diff>2.318e-05</foc_motor_ld_lq_diff>
+    <foc_motor_r>0.5743</foc_motor_r>
+    <foc_motor_flux_linkage>0.007127</foc_motor_flux_linkage>
+    <foc_observer_gain>1.969e+07</foc_observer_gain>
     <foc_observer_gain_slow>0.05</foc_observer_gain_slow>
     <foc_observer_offset>-1</foc_observer_offset>
     <foc_duty_dowmramp_kp>10</foc_duty_dowmramp_kp>
@@ -94,7 +93,7 @@
     <foc_sample_high_current>0</foc_sample_high_current>
     <foc_sat_comp>0</foc_sat_comp>
     <foc_temp_comp>0</foc_temp_comp>
-    <foc_temp_comp_base_temp>22.51</foc_temp_comp_base_temp>
+    <foc_temp_comp_base_temp>22.5</foc_temp_comp_base_temp>
     <foc_current_filter_const>0.1</foc_current_filter_const>
     <foc_cc_decoupling>0</foc_cc_decoupling>
     <foc_observer_type>0</foc_observer_type>
@@ -106,12 +105,12 @@
     <foc_hfi_obs_ovr_sec>0.001</foc_hfi_obs_ovr_sec>
     <foc_hfi_samples>1</foc_hfi_samples>
     <foc_offsets_cal_on_boot>1</foc_offsets_cal_on_boot>
-    <foc_offsets_current__0>2086.73</foc_offsets_current__0>
-    <foc_offsets_current__1>2047.37</foc_offsets_current__1>
-    <foc_offsets_current__2>2114.23</foc_offsets_current__2>
-    <foc_offsets_voltage__0>0.1375</foc_offsets_voltage__0>
-    <foc_offsets_voltage__1>0.1366</foc_offsets_voltage__1>
-    <foc_offsets_voltage__2>-0.2742</foc_offsets_voltage__2>
+    <foc_offsets_current__0>1996.01</foc_offsets_current__0>
+    <foc_offsets_current__1>2023.24</foc_offsets_current__1>
+    <foc_offsets_current__2>2074.1</foc_offsets_current__2>
+    <foc_offsets_voltage__0>0.0011</foc_offsets_voltage__0>
+    <foc_offsets_voltage__1>-0.0005</foc_offsets_voltage__1>
+    <foc_offsets_voltage__2>-0.0005</foc_offsets_voltage__2>
     <foc_offsets_voltage_undriven__0>0</foc_offsets_voltage_undriven__0>
     <foc_offsets_voltage_undriven__1>0</foc_offsets_voltage_undriven__1>
     <foc_offsets_voltage_undriven__2>0</foc_offsets_voltage_undriven__2>
@@ -187,7 +186,7 @@ p, li { white-space: pre-wrap; }
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Some comments about the motor quality. Images can be added as well.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</motor_quality_description>
-    <bms.type>1</bms.type>
+    <bms.type>0</bms.type>
     <bms.t_limit_start>45</bms.t_limit_start>
     <bms.t_limit_end>65</bms.t_limit_end>
     <bms.soc_limit_start>0.05</bms.soc_limit_start>
diff --git a/configs/xESC/YardForce_SA650ECO_Drive_Motor.xml b/configs/xESC/YardForce_SA650ECO_Drive_Motor.xml
index 37a630c9..013c72e1 100644
--- a/configs/xESC/YardForce_SA650ECO_Drive_Motor.xml
+++ b/configs/xESC/YardForce_SA650ECO_Drive_Motor.xml
@@ -1,14 +1,13 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <MCConfiguration>
-    <ConfigVersion>2</ConfigVersion>
     <pwm_mode>1</pwm_mode>
     <comm_mode>0</comm_mode>
     <motor_type>2</motor_type>
     <sensor_mode>0</sensor_mode>
-    <l_current_max>6.51866</l_current_max>
-    <l_current_min>-6.51866</l_current_min>
-    <l_in_current_max>5</l_in_current_max>
-    <l_in_current_min>-5</l_in_current_min>
+    <l_current_max>2</l_current_max>
+    <l_current_min>-2</l_current_min>
+    <l_in_current_max>1</l_in_current_max>
+    <l_in_current_min>-1</l_in_current_min>
     <l_abs_current_max>15</l_abs_current_max>
     <l_min_erpm>-100000</l_min_erpm>
     <l_max_erpm>100000</l_max_erpm>
@@ -17,14 +16,14 @@
     <l_max_erpm_fbrake_cc>1500</l_max_erpm_fbrake_cc>
     <l_min_vin>8</l_min_vin>
     <l_max_vin>40</l_max_vin>
-    <l_battery_cut_start>23.8</l_battery_cut_start>
-    <l_battery_cut_end>21</l_battery_cut_end>
+    <l_battery_cut_start>6</l_battery_cut_start>
+    <l_battery_cut_end>6</l_battery_cut_end>
     <l_slow_abs_current>0</l_slow_abs_current>
     <l_temp_fet_start>85</l_temp_fet_start>
     <l_temp_fet_end>90</l_temp_fet_end>
-    <l_temp_motor_start>85</l_temp_motor_start>
-    <l_temp_motor_end>100</l_temp_motor_end>
-    <l_temp_accel_dec>0.15</l_temp_accel_dec>
+    <l_temp_motor_start>190</l_temp_motor_start>
+    <l_temp_motor_end>190</l_temp_motor_end>
+    <l_temp_accel_dec>0</l_temp_accel_dec>
     <l_min_duty>0.005</l_min_duty>
     <l_max_duty>0.95</l_max_duty>
     <l_watt_max>1.5e+06</l_watt_max>
@@ -48,8 +47,8 @@
     <hall_table__6>4</hall_table__6>
     <hall_table__7>-1</hall_table__7>
     <hall_sl_erpm>2000</hall_sl_erpm>
-    <foc_current_kp>2.1884</foc_current_kp>
-    <foc_current_ki>1238.79</foc_current_ki>
+    <foc_current_kp>2.2089</foc_current_kp>
+    <foc_current_ki>2605.41</foc_current_ki>
     <foc_f_zv>25000</foc_f_zv>
     <foc_dt_us>0.12</foc_dt_us>
     <foc_encoder_inverted>0</foc_encoder_inverted>
@@ -63,11 +62,11 @@
     <foc_sensor_mode>2</foc_sensor_mode>
     <foc_pll_kp>2000</foc_pll_kp>
     <foc_pll_ki>30000</foc_pll_ki>
-    <foc_motor_l>0.00218841</foc_motor_l>
-    <foc_motor_ld_lq_diff>0.00085154</foc_motor_ld_lq_diff>
-    <foc_motor_r>1.2388</foc_motor_r>
-    <foc_motor_flux_linkage>0.013281</foc_motor_flux_linkage>
-    <foc_observer_gain>5.67e+06</foc_observer_gain>
+    <foc_motor_l>0.00220893</foc_motor_l>
+    <foc_motor_ld_lq_diff>0.00135457</foc_motor_ld_lq_diff>
+    <foc_motor_r>2.6054</foc_motor_r>
+    <foc_motor_flux_linkage>0.007529</foc_motor_flux_linkage>
+    <foc_observer_gain>1.764e+07</foc_observer_gain>
     <foc_observer_gain_slow>0.05</foc_observer_gain_slow>
     <foc_observer_offset>-1</foc_observer_offset>
     <foc_duty_dowmramp_kp>10</foc_duty_dowmramp_kp>
@@ -81,12 +80,12 @@
     <foc_sl_openloop_time_ramp>0.1</foc_sl_openloop_time_ramp>
     <foc_sl_openloop_time>0.05</foc_sl_openloop_time>
     <foc_hall_table__0>255</foc_hall_table__0>
-    <foc_hall_table__1>167</foc_hall_table__1>
-    <foc_hall_table__2>36</foc_hall_table__2>
-    <foc_hall_table__3>2</foc_hall_table__3>
+    <foc_hall_table__1>166</foc_hall_table__1>
+    <foc_hall_table__2>34</foc_hall_table__2>
+    <foc_hall_table__3>0</foc_hall_table__3>
     <foc_hall_table__4>101</foc_hall_table__4>
-    <foc_hall_table__5>135</foc_hall_table__5>
-    <foc_hall_table__6>68</foc_hall_table__6>
+    <foc_hall_table__5>134</foc_hall_table__5>
+    <foc_hall_table__6>67</foc_hall_table__6>
     <foc_hall_table__7>255</foc_hall_table__7>
     <foc_hall_interp_erpm>500</foc_hall_interp_erpm>
     <foc_sl_erpm>4000</foc_sl_erpm>
@@ -106,12 +105,12 @@
     <foc_hfi_obs_ovr_sec>0.001</foc_hfi_obs_ovr_sec>
     <foc_hfi_samples>1</foc_hfi_samples>
     <foc_offsets_cal_on_boot>1</foc_offsets_cal_on_boot>
-    <foc_offsets_current__0>2061.01</foc_offsets_current__0>
-    <foc_offsets_current__1>2052.83</foc_offsets_current__1>
-    <foc_offsets_current__2>2059.88</foc_offsets_current__2>
-    <foc_offsets_voltage__0>-0.0004</foc_offsets_voltage__0>
-    <foc_offsets_voltage__1>0.0011</foc_offsets_voltage__1>
-    <foc_offsets_voltage__2>-0.0006</foc_offsets_voltage__2>
+    <foc_offsets_current__0>2060.26</foc_offsets_current__0>
+    <foc_offsets_current__1>2108.85</foc_offsets_current__1>
+    <foc_offsets_current__2>2033.53</foc_offsets_current__2>
+    <foc_offsets_voltage__0>0.0003</foc_offsets_voltage__0>
+    <foc_offsets_voltage__1>0.0016</foc_offsets_voltage__1>
+    <foc_offsets_voltage__2>-0.002</foc_offsets_voltage__2>
     <foc_offsets_voltage_undriven__0>0</foc_offsets_voltage_undriven__0>
     <foc_offsets_voltage_undriven__1>0</foc_offsets_voltage_undriven__1>
     <foc_offsets_voltage_undriven__2>0</foc_offsets_voltage_undriven__2>
@@ -163,7 +162,7 @@
     <m_motor_temp_sens_type>0</m_motor_temp_sens_type>
     <m_ptc_motor_coeff>0.61</m_ptc_motor_coeff>
     <m_hall_extra_samples>1</m_hall_extra_samples>
-    <si_motor_poles>14</si_motor_poles>
+    <si_motor_poles>4</si_motor_poles>
     <si_gear_ratio>1</si_gear_ratio>
     <si_wheel_diameter>0.083</si_wheel_diameter>
     <si_battery_type>0</si_battery_type>
@@ -187,7 +186,7 @@ p, li { white-space: pre-wrap; }
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Some comments about the motor quality. Images can be added as well.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</motor_quality_description>
-    <bms.type>1</bms.type>
+    <bms.type>0</bms.type>
     <bms.t_limit_start>45</bms.t_limit_start>
     <bms.t_limit_end>65</bms.t_limit_end>
     <bms.soc_limit_start>0.05</bms.soc_limit_start>