Hello @MarkT so i have added the 470nF bootstrap caps, and gone with a 100uF electrolytic and 50nF ceramic decoupling caps so all my bootstrapping and decoupling should be okay now, i also upgraded the gate and BEMF resistors to be 1/2 watt instead of the original 1/4 watt ones.
This seems to have helped as the waveforms when there is no load look very similar to the waveforms from a commercial HW30A esc. Now when i break the motor with my hand or put the prop on the waveforms get a little bit shakey at low and med speed but they are better than what they were.
My new problem and what I’m thinking may be the root cause of all my issues is that when i go above 70% ish speed with the prop on, the main supply voltage sags down from 12 volts to 9-10 volts i also looked at it with my scope and it was rather noisey. Now I thought maybe i just needed more capacitors across the main supply rails so i added another 1000uF electrolytic and a 2uF film for higher frequency. This may have slightly helped with how noisy the VCC rail was but didnt impact it sagging down and causing the motors speed to oscillate and im assuming that causes it to have trouble staying in the closed loop properly which leads to my original inefficiency problem described earlier.
Now i am using a small A2212 2700kv motor and a fully charged 12V 6.5Ah lead acid, and i also used a fully charged 12.8V 7Ah LiFe battery and got the same voltage sag to around 10volts at over 70% power result both times. Now is there something I’m missing here with maintaining a steady voltage even and high speed under heavy load? (around 9 amps on my multimeter) or do you all think my issue is still probably related to the BEMF and bootstrapping? I am really stumped on this one and would love anyones input. No idea is a bad idea il try anything to make this work! Thanks in advance for your help 