That battery is good for 6A continuous discharge, so your good. I would not go any lower though. I like a bit of wiggle room for dealing with coil shorts. I know the burst ratings are higher, but I don't like to push it that far.
Amps can be calculated here. Enter volts and ohms and hit calculate. You can enter 4 volts for a fully charged battery as it will have a bit of voltage drop in use.
Lots of great info in the rba forum too. Here's one thread from there with a lot of battery and safety info.
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