@Jbev taking things a step further:
bemf_voltage = motor_rpm / motor_kv
pwm_effective_voltage = duty_cycle_%_bldc * battery_voltage
winding_resistance_ohms = (foc_resistance_detection_one_phase_milliohms / 1000) * 2
motor_current = (pwm_effective_voltage - bemf_voltage) / winding_resistance_ohms
torque_newton_meters_per_motor_amp_KT = 60 / (2 * pi * motor_kv)
motor_torque_newton_meters = torque_newton_meters_per_motor_amp_KT * motor_current
battery_current = (pwm_effective_voltage * motor_current) / battery_voltage