I’m not sure… Back in the other thread, I had only tested the v1.03 version of motor.cpp against the file because I was bottom-rigged. Today, since I’m presently top-rigged, I ran the full Firmware-1.03 with the test file, plotting on top of the lines I ran yesterday (v1.06 and your ‘revert-chain-angle’). Today’s plot was as exactly the same as the results yesterday. Today’s line was hard to see, orange right on top of blue on top of red! Still the same slight distortions, but no change between v1.03 and v1.06.
I’m looking at stepping back to v1.02, but that would require a full recalibration because v1.02 didn’t have chain-slack compensation. Before I do that, are there any other tests you would like to see with the present setup?