The VESC 4 has 2 battery shunts, a DRV8302 gate driver and at the time of it’s release, unoptimized firmware with issues.
The VESC 6 design has 3 phase shunts and a DRV8301 gate driver with external current sense amplifiers
The Stormcore 60D+ has 3 battery shunts, a larger 100 pin STM32F405, two newer DRV8323 gate drivers with internal current sense amps.
The Unity/Stormcore ESCs are really a category of their own compared to VESC 4 or VESC 6 designs from Vedder. The Unity was based off the 2 battery shunt VESC 4 with quite a few changes, and evolved into a much improved design with the Stormcores.
You can run more than 65k eRPMs on a 60D. Bioboards tested the 100D to 100k eRPMs. and the older Unity was tested by the designer at 130k eRPMs
