What is the difference of VESC4 and VESC6?

What is the difference of VESC4 and VESC6?

Both work good in BLDC mode.

VESC4 is basic version, working good in BLDC mode and more economic.

VESC6 has some updates in firmware and hardware for more functions and more precise control, such as:

Replacing the driver chip with the DRV8301 solves some VESC4.12 DRV error problems in FOC mode;
Independent current ADC sampling chip for faster sampling of current data;
Add one more sampling resistor to provide more accurate current data.