My B-G431B-ESC1 seems to be working great with the Arduino IDE following these steps 
. I managed to get the AS5048A magnetic sensor working in PWM mode as well (connected to the HALL1 pin) by creating a new sensor type heavily based on the existing MagneticSensorAnalog .cpp and .h files. I am getting some oscillations in closed loop velocity/position control modes at low speeds, but I imagine that is mostly due to lack of proper tuning and a relatively high kv motor (650kv).
Thanks for the guide!