Table of Contents
Mikrokopter BLCTRL Driver
I2C Addresses of Motors
Setup and Configuration
The following variables define that mkblctrl get started, and which ordering of the motor adresses is used.
They must be set in
etc/config.txt file on SD card.
set USE_IO no # no = FMU only mode / yes = FMU + IO set OUTPUT_MODE mkblctrl # start the mkblctrl driver on startup # # The following parameter must ONLY be set, if your Motor Layout is the original Mikrokopter Layout. # PX4 Users should NOT put the following line into the etc/config.txt file on SD card !! # set MKBLCTRL_MODE x # x / + Frame configuration
Predefined Model Configurations
There is a list of predefined configurations for some ARF/RTF kits available on the market.
To use one of these configurations simply set the parameter
SYS_AUTOSTART = <AUTOSTART_ID>.
To reset frame-specific parameters (e.g. attitude controller parameters:
MC_XXX) to default values for the selected model also set
SYS_AUTOCONFIG = 1.
Save the parameters and reboot the autopilot.
After a successfull startup, connect to the console of your PX4 and call the driver with the
This will cause a SpinUp at low RPM of all motors in the order of their addresses.