Current Sensor in Low PWM in SDC2130

According to the current sensing limitations of the SDC2130,I try to use Allegro ACS756 to sense the current to do close loop current control.But this sensor has noise .I even had low pass filter.but noise is high and hard to tune PID to command 20 mA command to the motor driver.Do you have any other sensor recommendation?
Will it work with INA250 sensor (www.ti.com/product/ina250) in position tracking mode.