I’d love to hear more about your project… and need to share more about mine too 
Which is an ornithopter with 4 motors per wing (3-axis shoulder plus wing extension).
If @StefanH doesn’t return, you could check out my Gooser tileable dual-motor driver, which I think has finally reached a viable design after many failures. Similar size per motor, and hopefully higher current. The current sensors are hall-effect rather than shunts, but same result.