I use the minimap so often I think it'd be useful to have it on the HUD all the time. I think it would be quite hard to see everything if the whole map was displayed though, so a zoomed in view of just your surrounding area would be the best I think.
I'd also like to see a little death icon (skull and crossbones?) come up when a friendly unit dies.
Here's a very quick mock up to show what I'm talking about (I've probably made it a bit too big in this):