List of brushless whoop/toothpick flight controllers

This is the list of brushless tiny whoop/toothpick style flight controllers with brief description and features list. You can compare them and choose the best FC that suits your needs. The list contains only the AIO boards – flight controllers with 4in1 ESC.

Types of the flight controllers

Whoop flight controller has a shape of the rotated square board with a 25.5×25.5mm mounting holes pattern. USB socket and motor sockets are usually located on the bottom side of the FC and are faced downwards. Tipical whoop frames are designed having this layout in mind so should fit into most of the whoop frames. 

LDARC brushless whoop FC

Toothpick flight controller has the same whoop form factor and should fit on the same mounts. It usually has bigger size, motor connectors and separate solder pads for motors. USB socket is located horizontaly flat. Motor plugs also can often be seen placed horizontaly.

BetaFPV brushless toothpick FC

You can see that different manufacturers are declaring different distance between the mounting holes. Tipically it should be in the range 25.526.0 mm. This is due to misinterpretation and lack of unified standart. Originally this distance should be counted as 1 inch (2.54cm)


FC main parameters

MCU – modern whoop/toothpick flight controller has F4 or even F7 type STM32 microcontroller (MCU). Betaflight stopped supporting F1 and F3 MCU’s already, so they are not recommended for the new builds. 

OSD – having OSD in your FPV feed is really handy. You can see the current flight mode, battery voltage, current, battery consumption, warnings and even more valuable information. 

Current Sensor – if the flight controller has current sensor, then you will be able to add the current amperage value indicator as OSD element in the FPV feed. Also you can have battery consumption indicator.  

ESC amps – the max ESC amps shows how much power can whoop FC deliver to the motors. The bigger and the faster motors – the more amps you need to deliver. 

Integrated receiver – integrated receiver eliminates the need of soldering the external receiver, greatly reduces the weight and complecity of the build. Usually built-in receivers are connected via so called SPI line, so directly controlled by the MCU. The biggest concern using the built-in receiver is the relatively short control range.

Whoop Flight Controllers

Here is the spreadsheet with all flight controllers:


Crazybee F4 2-4S Brushless Flight Controller V3

Price ~ $47.99

The third (actually – fourth) version of the popular Crazybee F4 Pro flight controller. This time Happymodel upgraded the ESC chips and now it provides 10A (12A burst) curent to motors and suports 2-4S battery input. FC has OSD, current meter and comes with FrSky, Flysky or no RX options.

Release date: 2019-07

Specifications of FC:

  • MCU: STM32F411CEU6 (100MHZ, 512K FLASH)
  • Sensor: MPU-6000 (SPI connection)
  • Board size: 28.5 * 28.5MM
  • Power supply: 2-4S battery input (DC 7-17V)
  • Built-in 10A (each) Blheli_S 4in1 ESC Dshot600 ready
  • Frsky version Built-in SPI Frsky receiver with telemetry(D8/D16 switchable)
  • Flysky version Built-in SPI Flysky receiver with telemetry(AFHDS/AFHDS2A switchable)
  • No RX version need to add external Receiver
  • Built-in Betaflight OSD (SPI Control)
  • Built-in Current meter Max 70A (scale set to 470)
  • Built-in 5V 1A BEC
  • Built-in voltage detection
  • Weight: ?

Specifications of ESC:

  • MCU upgraded to EFM8BB21
  • Power supply: 2-4S LiPo/LiPo HV (7v/17v)
  • Current: 10A continuous peak 12A (5 seconds)
  • Support BLHeliSuite programmable
  • Factory firmware: F_H_40_REV16_5.HEX
  • Default protocol: DSHOT600


Crazybee F4 Lite 1S Brushless Flight Controller

Price ~ $ ?

Crazybee F4 Lite is the lightest flight controller from Happymodel. It is designed to work only with 1S batteries. On board ESC provides up to 5A (6A burst) curent to motors. Board has OSD, but no current meter, just battery voltage sensing. The most interesting feature is on-board VTX with the power output of 25mW.


Release date: 2019-11

Specifications of FC:

  • MCU: STM32F411CEU6 (100MHZ, 512K FLASH)
  • Sensor: MPU-6000 (SPI connection)
  • Board size: 28.5 * 28.5MM
  • Power supply: 1S battery input (DC 2.9V-4.35V)
  • Built-in 5A (each) Blheli_S 4in1 ESC Dshot600 ready
  • Built-in Betaflight OSD(SPI Control)
  • Built-in 5.8G VTX
  • Built-in SPI Frsky/Flysky receiver
  • Built-in 5V 1A BEC
  • Built-in voltage detection




F4 20A 2-4S Brushless Flight Controller

Price ~ $59.99

The most powerful whoop flight controller. It runs on F4 MCU and its ESCs are capable of 20A (25A burst). 

Release date: 2019-10


Specifications of FC:

  • CPU: STM32F411CEU6 (100MHZ)
  • Six-Axis: MPU6000 (SPI connection)
  • Size: 32.5*32.5mm (26.5mm mounting holes)
  • Firmware version: Betaflight MATEKF411 (MK41)
  • OSD: Built-in BetaFlight OSD (OSD chip: AT7456E)
  • Receiver: Support Frsky XM/XM+ Receiver/ Futaba Receiver/ Flysky Receiver/ TBS Crossfire Receiver/DSMX Receiver
  • Support programmable LED like WS2812 etc
  • Built-in current sensor
  • Weight: 5.63g

Specifications of ESC:

  • Support BLheli/BLHELI_S suite Pass-through ready
  • Support PWM, Oneshot125, Oneshot42, Multishot, Dshot150, Dshot300, Dshot600
  • Input voltage: 2S-4S Lipo
  • Continuous current: 20A
  • Peak current: 25A
  • Firmware: BLHELI_S
  • Motor Connectors: 1.25mm header pins connector


F4 1S Brushless Flight Controller V2.1

Price ~ $39.99

The lightest F4 1S brushless FC in the market currently. Total weight in only 2.69 grams. Brushless 4in1 ESCs are capable up to 5A (6A peak). It comes in versions with Frsky, Futaba, DSM onboard SPI receiver or without receiver. Notice, that it has EFM8BB10 ESC MCU and that means it is not compatible with JESC firmware.

If you are into building the superlight brushless whoop, then this board is definitely for you.

Release date: 2019-09

Specifications of FC:

  • CPU: STM32F411CEU6 ( 100MHZ )
  • Six-Axis: MPU-6000 triaxial accelerometer / triaxial gyroscope (SPI connection)
  • Size: 29mm x 29mm, fully compatible with the whoop frame in the current market, Beta65 Pro frameBeta75 Pro frame, BWhoop B06 frame, and mounting pattern
  • Firmware version: Betaflight MATEKF411RX (MK41R)
  • Compatible with Z02A01M01 VTX
  • OSD: Built-in BetaFlight OSD (STM32 controls OSD chip over SPI in DMA mode)
  • Power Cable: 60mm, with JST-PH 2.0 connector, 1.25mm motor header pins
  • Weight: 2.69g 

Specifications of ESC:

  • Power supply: 1S
  • Current: 5A continuous and peak 6A (3 seconds)
  • Support BLHeliSuite programmable
  • Factory firmware: O_L_5_REV16_6.HEX
  • Signal Support: D-shot150, D-shot300, D-shot600, Oneshot125, Multishot, PWM





GEP-12A-F4 Flight Controller

Price ~ $39.99

GEPRC was the first to release the 12A whoop sized flight controller. Board accepts 2-4S battery input, outputs 12A (15A burst), has OSD, current sensor. Board also has UART2 pads, inverted and uninverted receiver inputs.

The same board layout was copied or somehow used by many other manufacturers.

Release date: 2019-05



  • Model Name: GEP-12A-F4
  • MCU: STM32F411
  • IMU: MPU6000 gyro/accelerometer (SPI)
  • OSD: BetaFlight OSD w/ AT7456E chip
  • BEC Output: 5V@1A
  • Integrated LC Filter
  • Firmware target: MATEKF411
  • Size: 28.5×28.5mm board,25.5mm mounting holes (M2)
  • Installing Hole: 25.5×25.5mm, M2
  • ESC MCU: BB21F16G
  • Continuous current: 12A
  • Input: 2-4s lipo
  • Supports Dshot600 ,Oneshot,Multishot
  • Current meter: 210
  • Target: G_H_30
  • Weight: 5.6g



iFlight SucceX Whoop F4  12A Flight Controller

Price ~ $39.99

The similar layout to GEPRC GEP-12A-F4 flight controller. iFlight has changed the gyro to ICM-20689 and added the sockets for add-on VTX board.

Release date: 2019-05

Name: iFlight SucceX Whoop F4
-Input voltage 2-4S Lipo
-Gyro: ICM-20689
2x UART ports
OSD inbuilt
-Blackbox FLASH: 8MB
-BEC: 5V 2A cont.
-Size: 28.5*28.5mm
-Mounting holes: 3mm 25.5*25.5mm
-Weight: 6.1g
-BF target : IFRC/IFF411PRO(STM32F411)
Current Scale: 210

Built-in SucceX Mirco 12A ESC
-Firmware: Blheli_S G-H-30
-Input voltage : 2-4S LIPO
-Continuous current: 12A
-MCU: BB21F16G
-BEC : None
-ESC protocol: pwm, oneshot125, multishot, dshot150, 300, 600, etc.



Skystars KARMAM F411 AIO Flight Controller

Price ~ $39.99

The same slightly altered layout of the GEPRC GEP-12A board. Just added solder pads for motors. Although the MosFET’s are the same as on GEPRC GEP-12A board (AON7934), the Skystars  have rated this board as capable for 15A continuos current to motors. Looks like the Skystars have overrated their board.

Release date: 2019-11

Brand Name: Skystars F411 AIO
MCU: STM32F411
IMU: MPU6000 gyro/accelerometer (SPI)
OSD: BetaFlight OSD w/ AT7456E chip
BEC Output: 5V@1.5A
Integrated LC Filter
Continuous current: 15A
Input: 2-4s lipo
Supports pwm, Oneshot125, Multishot, Dshot150, Dshot300, Dshot600
Size: 32.5×32.5mm board,25.5mm mounting holes (M2)
Installing Hole: 25.5×25.5mm, M2
Weight: 5.2g


[To be continued/updated]


Update history:
2019-11-07 Article created



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