The battery you have is a 6S battery (22.2V) You have your charger set to 3S (11.1V) ???
Depending on the power of the charger you can charge that battery at 2.9A
Discharge rate is how fast the battery can deliver its charge to the motor. So 30C means 30 X the capacity of the battery.
30 X 2.9A (2900mah) = 87A