We are working on an updated/modified version of original firmware for the VESC (based on FW3.33).
Key functions
#1 Multi-turn posistion control (controlling motor position over multiple encoder turns, for example 0-2160Degress)
#2 Removed shortest route rotation -+180 degress
future work:
#1 Looking on how to implement a cascaded style position, velocity and current control loop. The idea was previously tested on our simulator for cascaded position and speed control (http://grauonline.de/alexwww/motorsim/motorsim.html)
This is the source code for the VESC DC/BLDC/FOC controller. Read more at
http://vesc-project.com/