I've got a FlySky FS-iA6 tx (enormous!) that uses AFHDS, and I used it in one of my ants. It seems fine, and you can get a fairly small 4-channel rx for it.

It has a small amount of telemetry, showing rx voltage, which you can apparently hack a bit to get battery voltage. Never tried it, tho - I don't like the idea of battery voltage going anywhere near the rx. :P