Motor suddenly turns in the wrong direction

[RReic.2]

[PN]: Customer Board (Very similiar IHM08M1 and STM32G431RB)
[VERSION]: 6.3.1
[TOOL]: Motor Pilot
[DETAILS]: at heavy load step the motor turns suddenly in wrong direction with full speed (see plot below)
[EXPECTED BEHAVIOR]: stable speed or motor stops with speed feedback error or over current error
[HOW TO REPRODUCE]: Use PMSM Motor with FOC (STO+PLL as primary Sensor, 3shunt),  STM32CubeMX 6.12.1, Target Toolchain ST STM32CubeIDE, Firmware Package Version STM32 FW V1.6.0, Drive Type: LL

[GMA]

Hello @RReic.2,

Could you plot the IQ_MEAS and IQ_REF during the error use case?
You can decrease the STO-PLL variance threshold to make the system more sensitive to incorrect speed estimation.