Yes, frame packing is the best 3D format. The others, such as side by side or Top/Bottom are compromises used for systems that cannot handle HDMI 1.4.
There are two versions of frame packing that are both good. 1080 30p is usually the best, but if you have scenes with fast action and, especially, fast panning of the camera, then frame packed 720 60p is best, as you won't get that jutter you can see with the slower frame rate. The customers' TVs will automatically adjust to either of those HDMI 1.4 frame packed formats.