Merge remote-tracking branch 'origin/dev' into at32_mc

Applications/foc/core/foc.c

@@ -94,7 +94,7 @@ void foc_update(foc_t *foc) {
 	float sin_old = foc->sin;
 	float cos_old = foc->cos;
 	if (foc->mot_velocity_filterd >= CONFIG_Volvec_Delay_Comp_Start_Vel) {
-		float vol_dq_angle = foc->in.mot_angle + foc->mot_velocity_filterd / PI * 180.0f * (foc->ts * 0.8f);
+		float vol_dq_angle = foc->in.mot_angle + foc->mot_vel_radusPers / PI * 180.0f * (foc->ts * 0.8f);
 		norm_angle_deg(vol_dq_angle);
 		arm_sin_cos(vol_dq_angle, &foc->sin, &foc->cos);
 	}