CamLifter Heavy OktoKopter - Mikrokopter board - Reflashed ESC F30A - Flight test in strong wind

Hi all! In this video the first test of my new heavy CamLifter OktoKopter.
The specs:

- CamLifter Heavy OktoKopter - Carbon frame and landing gear by Klaus Peters (
- Battery holder by Alessandro Parisi (AleBS)
- AltiGator A3536-LE Motors
- APC-E 13x6.5 Props
- HobbyKing 30A ESC (F30A) reflashed with "SimonK Firmware"
- AfroI2C converter
- Mikrokopter flight board
- 3DR Radio 900 MHz telemetry
- FC "hot swap adapter" by Marco Robustini
- 4S 5000 mhA 30C LiPo (x 2)

Using my "hot swap" adapter" I can remove the Mikrokopter board and install ArduCopter APM2 in just two minutes, without remove a single cable.


-= Marco =-
(AC Dev Team)

Views: 3047

Comment by Jan Detlefsen on June 11, 2012 at 12:32am

what do you think are the differences between Mikrokopter and APM2? sorry if that was explained in the video but i can't watch it while at work.

Comment by Eric Tweet on June 11, 2012 at 12:41am

I was wondering the same thing (but I don't speak Italian!)

That thing does look solid though - very smooth and amazing loiter, and in that wind! It is pretty impressive, and I'm glad to see you behind the 'wheel' of an octo again.


Comment by Crasher on June 11, 2012 at 2:01am


So the reflashed ESCs talk I2C????

Comment by ThomasB on June 11, 2012 at 2:18am


I assume that the "AfroI2C converter" is used for I2C to PPM conversion.

Comment by Crasher on June 11, 2012 at 2:19am


Ah! That would make sense!!! Thanks

Comment by Per Elofson on June 11, 2012 at 4:14am

Hello Marco! Nice platform you've got there!

I fly both APM2 and MK and I wonder how to connect and configure the 3DR Radio to my Oktokopter, do you have any schematics on that?

/Per, Sweden

Comment by Crasher on June 11, 2012 at 4:25am


Thie page shows how to connect XBees to he MK and has worked for me:

If you look at how to connect APM 2 to XBees in the Wiki, and then the difference for 3DR radios, that should give you the information to adapt the MK-Xbee connection to 3DR no?

Hope it helps

Comment by Rui Manuel Cravo Marques on June 11, 2012 at 8:41am

I guess the most impressive feature is no doubt the position hold. It's dead on. I don't know what algorithms are in use here but they must be some very impressive ones. I also know that the current Arducopter code may be already pushing the limits of Arduino regarding calculations made. When searching the web for gps accuracy algorithms, I found some interesting algorithms wich I don't know if are already beeing applyied or have any possible implementation. One of them is others mention using TLS algorithm (total least square). I've downloaded a paper of Total Least Mean Squares but honestlly don't know how to apply it or even if it's possible, but it would be great to have a position hold like that :)

Comment by Dany Thivierge on June 11, 2012 at 8:45am

Really nice Marco!  

I really love the sound of these ESC/motors, I need to update my ESC firmware, I've always chicken out of doing it but every times I see a video with the "SimonK Firmware" fixes it remind myself how better things can be. 

Really strong wind and very stable, again good job! (and dont send this one on a crash while testing latest code, she is too much of a beauty!) 


Comment by Marco Robustini on June 11, 2012 at 11:30am

Thanks for your comment!
@Perelo: it's easy, follow the pinout of the "debug" port of the Navi (look at the port of MK-USB, is the same) and connect GND/+5/TX7RX of the 3DR Radio, that's all!

@Dany: yeah, SimonK increase the performance of all the quad!


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