Marco Bauer's Posts (2)

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Mikrokopter UAV are very common in Germany. They use their own Brushless ESCs, controlled with i2c by their own Flightcontrol.

From now on, it is easy possible, to convert a Mikrokopter UAV into a fully featured ArduCopter with a Pixhawk or PX4 only by replacing the FlightControl&NaviControl.

The i2c bus from the BL-Ctrl's have to be connected to the external i2c bus of Pixhawk or PX4.
Then follow these steps to turn on support for them:

Re-enabling the Mikrokopter I2C ESC Support for FMUv1 and FMUv2 (Pixhawk).
Mikrokopter ESCs have to be connected I2C Bus on Pixhawk/FMU.

Arducopter Mode:
To enable mkblctrl startup add a /fs/microsd/APM/mkblctrl file
In this configuration the ESCs must be ordered in the same order as the ArduCopter is numbering them.
In this Mode all Frametypes of ArduCopter are supported.

Mikrokopter Mode:
To enable Mikrokopter native Frame Addressing (Order) support:
For X Type Frame add:

For + Type Frame add:

With Mikrokopter Frame Addressing, it is very easy to convert a Mikrokopter to ArduCopter. Just replacing
the Flight-CTRL against a Pixhawk, and your are done after initial Setup.

In Mikrokopter Mode there are only X and + Type Quadro, Hexa and Octo Frames Supported.
In Mission Planner the right Frame have to be set.

There can be only one startup File on the SDCard (mkblctrl, mkblctrl_x, mkblctrl_+)

I am using my PX4/Pixhawk nearly one year with ArduCopter and PX4-Flightstack without any problems. It is really working rock solid.




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The PX4 autopilot is an amazing open source platform for research. It is one of the first open source autopilots capable of running an on-board extended kalman filter and other advanced control and navigation algorithms. It is also mass produced by 3D Robotics and very affordable.

BlinkM driver with system supervision

Recently I have implemented a optical system supervision with a BlinkM or as an alternate the CYZ_RGB Firmware if you want to build your BlinkM alternate by yourself.

With this driver you are able to get an optical Feedback about the number of used Satellites (if a GPS-Receiver is mounted), selected Flight-Mode, battery warnings and alerts.

For more Information on how to use this, visit the PX4 BlinkM driver page

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