TMS320F280049C-Q1: Angle delay compensation function difference between motorware and motorControlSDK

Hi，

I find that there is some difference between motorware and motorControlSDK with angle delay compensation function.

In motorware:

    _iq angleCompFactor = _IQ(1.0 + (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK * 0.5);
    _iq angleDeltaComp_pu = _IQmpy(angleDelta_pu,angleCompFactor);

In motorControlSDK

        angleDelta_rad = userParams.angleDelayed_sf_sec * estOutputData.fm_lp_rps;

I can understand the explanation as below picture shows for motorware.

But why in motorControlSDK,changing the angle delay compensation by neglecting the 1.0 PWM period?

Regards

Arrow

Regards

Arrow