diydrones/ardupilot — pull request #927 by NosDE (2014-03-28 19:02:36+00:00)
Title: enabling mkblctrl for fmuv1/fmuv2

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:
/fs/microsd/APM/mkblctrl_x

For + Type Frame add:
/fs/microsd/APM/mkblctrl_+

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.

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