I think it should work with most ESCs, as far as I know the 6th pin is for a temp sensor. Usually its three wires for the sensor signals and +5v and Gnd to power the sensors.
I have read on the endless sphere forums that there are companies that make sensor boards for popular 63mm outrunners, just forgot the name, but I can look it up when I have time...
Depending on how much power you need it might also be worth looking into the VESC open source ESC for that type of application.
Edit: Was easier to find than I thought:
http://e0designs.com/products/hall-effect-sensor-board/