Symbol	Program variable	Description
\( \omega_{m,\rm pert} \)	`motor.testing.sqwave.velocity`	MCAF firmware contains amplitude of velocity command perturbation — note: used only in OM_FORCE_VOLTAGE
\( I_{dq,\rm pert} \)	`motor.testing.sqwave.idq`	MCAF firmware contains amplitude of current command perturbation (d- and q-axis components)
\( V_{dq,\rm pert} \)	`motor.testing.sqwave.vdq`	MCAF firmware contains amplitude of voltage command perturbation (d- and q-axis components)
V6	`motor.testing.overrides : 4 (zero = "on")`	"Valve" to enable data flow into reciprocal voltage
\( R_V \)	`motor.rVdc`	reciprocal of DC voltage
\( \omega_{m,\rm cmd} \)	`[not stored in MCAF]`	MCAF R5: Output of ADC channel; see adc_compensation.c MCAF_AcquireADCMuxChannel
V1	`motor.testing.overrides : 1 (zero = "on")`	"Valve" to enable data flow into velocity command
\( \omega_{m,\rm ref0} \)	`motor.velocityControl.velocityCmd`
\( \omega_{m,\rm ref} \)	`motor.velocityControl.velocityCmdRateLimited`	rate-limited velocity command
V2	`motor.testing.operatingMode = OM_NORMAL and startup complete`	"Valve" to enable data flow into current command
\( I_{dq,\rm ref0} \)	`motor.idqCmdRaw`	Desired dq-frame currents, prior to perturbation
\( I_{dq,\rm ref} \)	`motor.idqCmd`	Desired dq-frame currents
\( I_{dq,\rm err} \)	`[not stored in MCAF]`
V3	`motor.testing.operatingMode = OM_FORCE_CURRENT or greater`	"Valve" to enable data flow into voltage command
\( V_{dq0} \)	`motor.vdqCmd`	Desired dq-frame (synchronous) voltages prior to perturbation
\( V_{dq} \)	`motor.vdq`	Desired dq-frame (synchronous) voltages
V4	`[Not implemented in MCAF R5]`	"Valve" to enable data flow into alphabeta voltage command
\( V_{\alpha\beta} \)	`motor.valphabeta`	Desired alphabeta-frame (stationary) voltages
\( V_{abc0} \)	`motor.vabc`	Desired phase voltages
\( D_{abc0} \)	`motor.dabcUnshifted`	Duty cycle outputs prior to ZSM and clipping
V5	`[Not implemented in MCAF R5]`	"Valve" to enable data flow into output duty cycle
\( D_{abc1} \)	`motor.dabc`	Duty cycle outputs after ZSM and clipping
\( \theta_e \)	`motor.thetaElectrical`	electrical angle
cs	`motor.sincos`	sine and cosine of electrical angle
\( I_{ab} \)	`motor.iabc`	measured motor phase currents
\( I_{\alpha\beta} \)	`motor.ialphabeta`	alphabeta-frame (stationary) measured current
\( I_{dq} \)	`motor.idq`	dq-frame (synchronous) measured current
commutation override	`motor.testing.overrides : 2 (zero = normal commutation from estimator)`	determines source of commutation angle
\( \omega_{e,\rm override} \)	`motor.testing.overrideOmegaElectrical`	Commutation override electrical frequency
\( \hat{\theta}_r \)	`motor.estimator.theta`	Estimated electrical angle
\( \hat{\omega}_m \)	`motor.omegaElectrical`	Estimated electrical frequency (note: in MCAF the equivalent electrical and mechanical frequencies are represented by the same integer values and are interchangeable during computations.)
\( \theta_{\rm ofs} \)	`motor.startup.thetaError`	Commutation angle offset