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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  • In my case booting up PX4 end with "Setting up mkblctrl driver x" in boot.log and that's all.

    No boot happens.

  • Could anyone tell me, how should I write ESCs to config file? 

    What is syntax and if there is an example?

  • Hello and sorry for my bad english (google translate).
    I mounted my Dropix (Pixhawk made in France) on my frame Droidworx AD 6 ... I want to reuse my distribution board and my ESC MK ...
    Here is my problem:
    -I Create the cable and plugged it all
    -I Create a file named mkblctrl_ + in APM (I'm on arducopter 3.2.1).
    -I Put my Micro SD card in my Dropix.

    Result: the engines spinning even without the Dropix is armed ... What can I do? Is it possible to calibrate the esc key to set the problem?

    Thank you!
  • Good to know, I'd noticed from other posts in forums that there should be quite a few non Mikrokopter mavlink options available and had suggested that as an option, the primary user of the octo is pretty set on swapping it over though.

    It'll not go to waste, I'm hoping it will be sold but failing that used by an alternative dept/project where the operator has no leaning to any one system.

  • Leon, I get it. 

    Just so you know, if don't want to let all that expensive MK equipment go to waste, you can use the 3DR telemetry transceiver on the MK by simply plugging it in.  Also, I think it's 32 waypoints. 

  • A few reasons.

    The original supplier failed to include the telemetry kit and it wasn't identified until after the warranty period had expired and the the company sold to an Australian/NZ firm that had no obligation to honour the purchase. Since then we've been successfully using Pixhawk in a variety of platforms and we find the Pixhawk gives us more options...being able to use more than 16 waypoints is a must (it's a university research dept - we don't use our kit for cinematography) and so we're slowly integrating the Pixhawk into all of our craft. There's far more support and information available to troubleshoot for the Pixhawk and we're not beholden to overpriced proprietary equipment manufacturers when things go wrong. Plus, if there's a crash, it's easier to find funding to replace the equipment.

  • Leon, just curious - why do you want to replace the MK stack with a Pixhawk?


  • Well, looks like there's zero additional info available on the Aerodron kit other than the sales pitch on their website and a few complaints on forums...

  • Yes, that is right. You only need the mkblctrl_x file (depends on your frame configuration x or cross) .
    The original BLCtrl ESCs does not have any Pullup Resistors on the Board. The Pullup is on the Mikrokopter FlightControl. In my case (Quadro X and MK Hexa +) I have connected GND, SCL and SDA direct to the Pixhawk. The Pixhawk have internal Pullup Resistors installed. So you don't have o use external ones.
    I am not firm with your ESC Board, i have only experience with original MK BLCtrl 1.2 and 2.0

    On the Top, you can see a Picture of one of my Quads. The small grey Cables are the SCL/SDA Lines from the ESCs.

  • Don, that's a golden nugget of information, thank you!

    So much easier when you know what you're working with (I don't have any paperwork or manuals for this kit). From the little reading I've done since reading your post, it might be easier for me just to switch to PPM on the Aerodron.



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