From 86445edf1a45f376c322cf7e9777a2e50fcdcc66 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 4 Mar 2021 14:26:48 +0100
Subject: [PATCH] Fixed speed limit regression

---
 mc_interface.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mc_interface.c b/mc_interface.c
index 737d3968..8b86cb8b 100644
--- a/mc_interface.c
+++ b/mc_interface.c
@@ -1870,7 +1870,7 @@ static void update_override_limits(volatile motor_if_state_t *motor, volatile mc
 
 	if (motor->m_conf.motor_type == MOTOR_TYPE_FOC) {
 		// Low latency is important for avoiding oscillations
-		rpm_now = mcpwm_foc_get_rpm_fast();
+		rpm_now = DIR_MULT * mcpwm_foc_get_rpm_fast();
 	} else {
 		rpm_now = mc_interface_get_rpm();
 	}