The Hobbywing Xrotor Micro 4in1 60a 6s ESC uses the BLHeli32 firmware. This 4in1 ESC is compatible with all flight controllers, as well as the Hobbywing XRotor F4-G3, without soldering.IMPORTANT:1. Power capacitor must be installed. Every Xrotor 60amp 4-1 includes 2 power capacitors. One larger, and one smaller. The larger capacitor should be used for 5s-6s lipo, the smaller capacitor c..