LAUNCHXL-F28069M: Motor Stalls while under load/Unable to reach maximum output current

Part Number:LAUNCHXL-F28069M

Hi - I am using a LAUNCHXL-F28069M MCU with the BOOSTXL-DRV8301 Rev B inverter.  I am driving a 4 pole, BLDC motor, at 12VDC.  I am using lab 6a and am trying to run the motor at 3200 rpm.  The USER_MOTOR_MAX_CURRENT is set to 10.0A.  When driven under no load, the motor runs as expected.  But when I put a load on the motor, the speed drops to around 2700 rpm and the Iq current saturates at around 4A.    The Iq_Ref value is ~ 10A.  See screen shot below.  Any idea why this is happening?  And what I can do to increase the output current?  

Thanks!

Brett