Oh, you CAN run lipo on a pre-Lipo esc, and it works just fine. Just don't try and push the boundaries of runtime, as a flat Lipo is not good - i.e. always fully charge the Lipo and limit your runs to 5-6 minutes (which is wise regardless due to heat).
Otherwise, if you want to eliminate the need to think about it, a voltage cut-off can be added.
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