diff --git a/res/config/6.02/parameters_mcconf.xml b/res/config/6.02/parameters_mcconf.xml
index 6ef7031cf..be538afbf 100644
--- a/res/config/6.02/parameters_mcconf.xml
+++ b/res/config/6.02/parameters_mcconf.xml
@@ -2730,6 +2730,42 @@ p, li { white-space: pre-wrap; }
             <enumNames>Corrected Position</enumNames>
             <enumNames>Observer</enumNames>
         </foc_speed_soure>
+        <foc_commutation_type>
+            <longName>SVM Method</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;ALT_REV_SEQ&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Most stable and common commutation method.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;NULL_V0&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Also referred to as &amp;quot;flat bottom&amp;quot; commutation.  Reduces switching losses and potentially stability.  It may cause the low side transistors to heat up faster.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;NULL_V7&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Also referred to as &amp;quot;flat top&amp;quot; commutation.  Reduce switching losses and potentially stability.  It may cause the low side transistors to heat up faster.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;V7_ODD_V0_EVEN&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Alternates between Null V0 and Null V7 to help spread the heat out between the transistors while still reducing switching losses.  Uses NULL_V0 in sectors [2, 4, 6], and NULL_V7 in sectors [1, 3, 5].  Stability may be reduced.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;V0_ODD_V7_EVEN&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Alternates between Null V0 and Null V7 to help spread the heat out between the transistors while still reducing switching losses.  Uses NULL_V0 in sectors [1, 3, 5], and NULL_V7 in sectors [2, 4, 6].  Stability may be reduced.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Additional Info:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;https://github.com/vedderb/bldc/pull/590&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;https://youtu.be/5eQyoVMz1dY&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;https://link.gale.com/apps/doc/A18320578/AONE&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_COMMUTATION_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>ALT_REV_SEQ</enumNames>
+            <enumNames>NULL_V0</enumNames>
+            <enumNames>NULL_V7</enumNames>
+            <enumNames>V7_ODD_V0_EVEN</enumNames>
+            <enumNames>V0_ODD_V7_EVEN</enumNames>
+        </foc_commutation_type>
         <gpd_buffer_notify_left>
             <longName>Buffer Notification Length</longName>
             <type>2</type>
@@ -4452,6 +4488,7 @@ p, li { white-space: pre-wrap; }
         <ser>foc_fw_ramp_time</ser>
         <ser>foc_fw_q_current_factor</ser>
         <ser>foc_speed_soure</ser>
+        <ser>foc_commutation_type</ser>
         <ser>gpd_buffer_notify_left</ser>
         <ser>gpd_buffer_interpol</ser>
         <ser>gpd_current_filter_const</ser>
@@ -4827,6 +4864,7 @@ p, li { white-space: pre-wrap; }
                     <param>foc_mtpa_mode</param>
                     <param>foc_observer_offset</param>
                     <param>foc_speed_soure</param>
+                    <param>foc_commutation_type</param>
                 </subgroupParams>
             </subgroup>
         </group>