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 whoop/toothpick type 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. Typical whoop frames are designed to have 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 horizontally flat. Motor plugs also can often be seen placed horizontally.

BetaFPV brushless toothpick FC

You can see that different manufacturers are declaring different distance between the mounting holes. Typically it should be in the range 25.526.0 mm. This is due to misinterpretation and lack of unified standard. 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 the listed flight controllers: http://bit.ly/Whoop-Toothpick-Flight-Controller-list-spreadsheet

Crazybee F4 2-4S Brushless Flight Controller V3

Price ~ $47.99

https://www.banggood.com/Eachine-Crazybee-F4-PRO-V3_0-Flight-Controller-Blheli_S-10A-2-4S-Brushless-ESC-compatible-Frsky-Flysky-Receiver-for-Cinecan-4K-Racing-Drone-p-1534753.html

http://www.happymodel.cn/index.php/2019/07/26/crazybee-f4-pro-v3-0-2-4s-compatible-flight-controller/

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 ~ $47.99

https://www.banggood.com/Happymodel-Mobula6-Part-Crazybee-F4-Lite-1S-Flight-Controller-AIO-ESC-Receiver-25mW-VTX-for-RC-Drone-p-1625619.html

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 35A 2-6S Brushless Flight Controller

Price ~ $74.99

https://betafpv.com/products/toothpick-f4-2-6s-aio-brushless-flight-controller-35ablheli_32

This FC is the first BLHeli_32 ESC 35A All-in-one toothpick FC on the market. The ESC runs on BLHeli_32, is capable of 35A (40A burst) and supports 2-6S Lipo battery. 3 UARTS are available (one of them is SoftSerial though) and it fully supports DJI digital FPV.

Release date: 2020-02

Specifications of FC:

  • Item: F4 35A AIO FC(BLHeli_32)
  • Weight: 7g
  • CPU: STM32F411CEU6
  • Six-Axis: MPU6000 (SPI connection)
  • Mounting hole size: 26mm * 26mm
  • Firmware version: BETAFPVF411 (BEFH)
  • OSD: Built-in BetaFlight OSD (OSD chip: AT7456E)
  • Support programmable LED like WS2812 etc
  • Built-in current sensor

Specification of ESC

  • Signal support: PWM, Oneshot125, Oneshot42, Multishot, Dshot150, Dshot300, Dshot600
  • Receiver: Support Frsky XM/XM+ Receiver/ Futaba Receiver/Flysky Receiver/DSMX Receiver/TBS Crossfire Receiver (requires external connection)
  • Input voltage: 2S-6S Lipo
  • Continuous current: 35A
  • Peak current: 40A
  • ESC firmware: BLHELI_32
  • Indicators: 3 indicators: receiver indicator (green)/Flight control status indicator (blue)/Flight control power indicator (red)
  • Capacitor: CS|5*10*17mm|680μF|35V
  • Connecter: XT60U 14AWG
  • Recommended motors: 140X series, 150X series, 160X series, 180X series

 

F4 20A 2-4S Brushless Flight Controller

Price ~ $59.99

https://betafpv.com/products/f4-20a-aio-1-4s-brushless-flight-controllerblheli_s

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

https://betafpv.com/products/f4-1s-brushless-flight-controller-v2-0-frsky-rx

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

https://www.banggood.com/GEPRC-GEP-12A-F4-V1_1-F411-F4-Flight-Controller-AIO-OSD-BEC-12A-BL_S-2-4S-4In1-ESC-for-RC-Drone-FPV-Racing-p-1474473.html

https://geprc.com/product/gep-12a-f4-flight-controller-12a-esc/

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

 

Specifications:

  • 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-D 20A Whoop F4 AIO Flight Controller

Price ~ $49.99

https://shop.iflight-rc.com/index.php?route=product/product&product_id=1223

https://www.banggood.com/IFlight-SucceX-D-Whoop-F4-Flight-Controller-…-1709071.html

iFlight SucceX-D 20A Whoop AIO is probably the first whoop/toothpick AIO FC board with the dedicated connector for DJI Air digital FPV system. This AIO FC is capable of accepting the 2-5S battery and provides up to 20A (25A burst).

Release date: 2020-05

Specifications:
Size: 30.5*30.5mm
Mounting pattern:25.5*25.5mm/φ3mm
MCU: STM32F411
Gyro: MPU6000
Blackbox: 8MB
BEC output: 5V 2A/10V 2A
INA pad: nR2
Barometer:no
Constant current:20A25A(burst)

Input:2-5S8-25V
Current sensor: yes
BLHeli:BLHeli-S
ESC Telemetry:no
Target: IFLIGHT_F411_PRO
ESC Firmware: G-H-30 BLS

Package Includes:
– SucceX-D Whoop F4 AIO Board× 1
– Capacitor 470uF/16V × 1
– XT30 18awg cable
– Wire harness (plug&play) for DJI Air Unit × 1
– M2 silicon grommets × 4
– M2 damping balls x 4
– M2*8mm Screws x 4

 

iFlight SucceX Whoop F4  12A Flight Controller

Price ~ $39.99

https://www.iflight-rc.com/index.php?route=product/product&product_id=848

https://www.banggood.com/IFlight-SucceX-Whoop-F4-2-4S-Flight-Controller-AIO-OSD-BEC-Built-in-12A-BL_S-ESC-for-RC-Drone-FPV-Racing-p-1485838.html

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. Later revision brought the MPU6000 gyro back.

Release date: 2019-05

Specifications:
Name: iFlight SucceX Whoop F4
STM32F411
-Input voltage 2-4S Lipo
-Gyro: ICM-20689MPU6000
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.

 

SPCMaker Whoop F4 25A Flight Controller

Whoop AIO board by SPCMaker supporting 2-4S battery input and capable of 25A output. It was the most powerful AIO whoop flight controller when it was released.

SPCMaker Whoop F4 25A FC has all the useful features – MPU6000 via SPI, Betaflight OSD, current sensor, inverted and uninverted RX inputs, RX2/TX2 pads and even I2C interface (SDA/SCL). SPC Maker flight controller has also programmable LED and Buzzer pads. 

Despite the manufacturer stating that the board has motor sockets with gold plated pins, I think these little motor sockets can really melt under the full rated current 25A! And not talking about 40A… If only the SPC Maker would have made motor solder pads – it would have been the perfect board for power toothpicks (3-4-5 inch) and lightweight 5″ quads.

Price ~ $55.99

https://www.banggood.com/25_5x25_5mm-SPCMaker-Whoop-F411-F4-OSD-Flight-Controller-…-1702948.html

Release date: 2019-12

Specifications:
Brand Name: SPCMaker
Item Name: F4 OSD Flight Controller Built-in 25A 4in1 ESC
Size: 31.4×31.4mm 
Mounting Hole: 25.5×25.5mm 
Weight: 7g 
CPU: STM32F411CEU6 (100MHZ) 
MPU: MPU6000 ( SPI) 
Betaflight firmware targer: SPCMAKERF411 (SPCM
Built-in Betaflight OSD ( AT7456E)
Built-in Current Sensor (Current Coefficient Amp Meter Scale: 300)
– Support WS2812 LED
– Support DSMX/DSM2; TBS Crossfire, IBUS, SBUS Receiver
Input Voltage: 2-4S Lipo
Con. Current: 25A
Burst Current: 40A
Firmware Support: BLHELI_S/JESC
Firmware Version: BLHELI_S (G_H_30)
Motor Connector: 1.25mm 3P spacing Straight Pin Holder
– Support PWM, Oneshot42, Oneshot125, Multishot, Dshot150 and Dshot300, Dshot600

Package Included:
1x SPCMaker F4 Flight Controller Built-in 25A ESC Board 

 

Skystars KARMAM F411 AIO Flight Controller

https://www.banggood.com/Skystars-KARMAM-F411-AIO-MPU6000-5V1_5A-BEC-15A-2-4S-25_5mm-For-FPV-Racing-RC-Drone-p-1593561.html

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

Specifications:
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

 

 

HAKRC F4126 20A Whoop AIO FC

https://pyrodrone.com/products/hakrc-f4126-blheli_s-20a-whoop-aio-fc

Price ~ $34.99

The F4126 is HakRC’s whoop style AIO flight controller with ESC board for ultralite quads and toothpicks. Is capable of 20A continuous current (25A burst) and can handle up to 5S battery input voltage.
This FC features a Barometer which is rare to see in this type of flight controller.

Release date: 2020-07

Features:
1. PCB adopts high-end 8-layer 2oZ thickened copper skin, which has stronger over-current capability and good heat dissipation.
2. MOS adopts imported 30V high current resistance mos, long life and strong load capacity.
3. industrial-grade LDO, high temperature resistance.
4. high-quality Japanese Murata capacitors, strong filtering performance

Flight control specifications:

CPU: STM32F411CEU6
IMU: MPU6000
OSD: AT7456E
Barometer: BMP280
LED: Support WS2812 and other programmable
Sensor: Built-in current sensor
Firmware version: betaflight_4.1.1_MATEKF411
Receiver: Frsky/ Futaba/ Flysky/ TBS Crossfire/ DSMX:DSM2 receiver

Size: 31x 31.mm (26.5×26.5mm mounting hole)
Net weight: 7g

 

ESC parameters:
Protocol support: PWM, Oneshot125, Oneshot42, Multishot, Dshot150, Dshot300, Dshot600
Input voltage: 2S-5S Lipo
Continuous current: 20A
Peak current: 25A
Firmware version: BLHELI _S (G- H-30)

 

HIFIONRC AIO F7 Flight Controller OSD Built-in 25A/45A Blheli_S 2-4S

25Ahttps://www.banggood.com/HIFIONRC-AIO-F7-Flight-Controller-OSD-Built-in-25A-…-1716227.html

45Ahttps://www.banggood.com/HIFIONRC-AIO-F7-Flight-Controller-OSD-Built-in-45A-…-1716359.html

Price ~ $42.99 – $57.99

One of the first (actually the second one) flight controllers with F7 MCU, and definitely the first one to offer AIO FC with 25A and even 45A versions. The difference between two versions is only FETs ratings. HIFIONRC AIO F7 board has 5 full UARTS

 

Release date: 2020-08

Specifications:
Item name: HIFIONRC AIO F7 Flight Controller OSD Built-in 25A Blheli_S 2-4S 4 In 1 Brushless ESC
CPU: STM32F722_Coretx-M7
MPU: MPU6000 ( SPI)
Firmware: BETAFLIGHT_HIFIONRC F7 4.2
Built-in Betaflight OSD ( AT7456E)
Built-in Current Sensor
Support WS2812 LED
Con. Current: 25A/45A
Input Voltage: 2-4S Lipo
ESC Firmware: BLHELI_S GH30
Support PWM, Oneshot42, Oneshot125, Multishot, Dshot150 and Dshot300, Dshot600
Size: 33x33mm
Mounting Hole: 25.5×25.5mm
Weight: 7.8g

 

[To be continued/updated]

Diatone

JHEMCU

 

Update history:
2019-11-07 Article created
2020-07-04 Article updated: iFlight SucceX-D 20A AIO FC, SPCMaker 25A AIO FC
2020-07-16 Article updated: BetaFPV F4 35A, HAKRC F4126 20A
2020-08-11 Article updated: HIFIONRC AIO F7

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