Does ST MC Workbench allow room to improve motor control ?

Hi everyone,

I am using a p-nucleo-ihm03 pack to try to improve the control of the motor included. The issue I am having is that if the software already performs FOC for you. Is there any room for the user to improve the control of the motor ? Please could you let me know the areas which could be improved by means of the Workbench or any other related tools you may know of ? Thanks in advanced.

P.S. Also could someone let me know if the Gimbal motor in the p-nucleo-ihm03 is a PMSM or a BLDC motor ? I have looked everywhere online but I haven't found the answer.