Hi Neuro. Nice cape. Two notes that helped me and could help you:

Beware switching on both V+ and V- in one go. Even the slightest overlap caused
by on and off switching times internal to the FET will result in high current
draw. This doesn't go to the motor, but instead from your v+ rail through both
FETs and out you v- rail.

Second, you shouldn't run your FETs as switches, instead you should run them
with a 50% duty cycle and only turning on the FETs that are required by your
commutation status. For your V+ FETs throttle 0-100 % would be 50% to 99% duty
cycle for the FETs. For the V- FETs throttle 0-100% would be 50% - 1% duty
cycle. The idea is to not put 24 V over the terminals of the motor all the time,
instead depending on you duty cycle vary the voltage between 0-24V.

Basically, throttle translates to voltage over the terminals, not the duty cycle
of your commutation.

Feel free to contact me and I will try to type up a better explanation.

Edit 2014-10-8 16:20
Sorry, your post was featured on Hackaday today, hence the comment.

Thanks for the comment. The drivers do not allow for both High and Low side of the same half-H bridge to be on at the same time so that should protect against programming mishaps.

In the current open loop control, I think I am just switching them on and off at each commutation stage, but that is just for testing the circuit. I think the back emf control algorithm uses PWM it might be similar to what you are describing.

So I got in contact with the new motor company and found out that this motor despite being 30 watts will try to pull as much current as possible. I am working on a simple current limiting circuit that could be used to protect the motor.