Which Controller for My Application?

[Serum]

The XL2000 will give you a better runtime, the 2400 will hit 50000 rpms, the XL2000 is a bit easier on both your controller and drivetrain. The 2400 will draw much more current as well. You can gear the 2000 a bit higher than the 2400.

Lehner calculates the kv of the motor under load, unlike Feigao.