Hall sensors with even just a first order speed estimator will offer better performance. The whole HFI thing is for when you either don’t have any sensors or your sensor connection is unreliable. I am just highly skeptical of Trampa’s claims. While it is impressive it can spin a motor at low and zero speed, I question whether this is either efficient or worth the additional software overhead with high inertia loads.
Just want to reiterate what I found here. My Haggy (maytech) 6374 has a phase resistance of 19.25mOhm.
The VESC 6 mk3 I purchased from TRAMPA reports a phase resistance of 15.88mOhm.
The Flipsky 6.6 ESC reports a phase resistance of 21.7mOhm.
My own power stage reports something between 18-19.8mOhm depending on which samples I average.