Hall has almost no loading capacity after startup

Evaluation board:  drv8301-hc-evm revd

sw\solutions\instaspin_foc\boards\drv8301kit_revD\f28x\f2806xF\projects\ccs5\proj_lab11e

I refer to TI's Lab11e program, Hall has almost no load capacity after starting, to ensure that the motor parameters are updated correctly, motor three-wire commutation sequence has been tried, when 500 rpm load, great jitter, and can not output rated torque, is it related to PI parameters? I did not change the PI value in the debugging window. There are many PI values in the program. I don't know which one to change and where to change the PI value.

pidHandle[0] = PID_init(&pid[0],sizeof(pid[0]));     pidHandle[1] = PID_init(&pid[1],sizeof(pid[1]));     pidHandle[2] = PID_init(&pid[2],sizeof(pid[2]));     pidHandle[3] = PID_init(&pid[3],sizeof(pid[3]));

    PID_setGains(pidHandle[0],_IQ(0.2),_IQ(0.005),_IQ(0.0));     PID_setMinMax(pidHandle[0],-maxCurrent_pu,maxCurrent_pu);     PID_setUi(pidHandle[0],_IQ(0.0));     pidCntSpeed = 0;

    PID_setGains(pidHandle[1],Kp_Id,Ki_Id,_IQ(0.0));     PID_setMinMax(pidHandle[1],-maxVoltage_pu,maxVoltage_pu);     PID_setUi(pidHandle[1],_IQ(0.0));

    PID_setGains(pidHandle[2],Kp_Iq,Ki_Iq,_IQ(0.0));     PID_setMinMax(pidHandle[2],_IQ(0.0),_IQ(0.0));     PID_setUi(pidHandle[2],_IQ(0.0));

    PID_setGains(pidHandle[3],Kp_Iq,Ki_Iq,_IQ(0.0));     PID_setMinMax(pidHandle[3],_IQ(0.0),_IQ(0.0));     PID_setUi(pidHandle[3],_IQ(0.0));

PID_setGains(pidHandle[0],_IQ(0.1),_IQ(0.005),_IQ(0.0));