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.
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.
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.