Starting with the Mikrokopter

Here is the introduction to MK as translated from

This page will provide a quick survey of the MikroKopter (MK).

MikroKopter History

On 24.10.2006 leaded by Holger Buss and Ingo Busker very quickly emerged a large community of MikroKopter pilots. As early as mid-2007, the MikroKopter floated steadily as an air nail or agile as a small swallow through the air.

The first year as video document including first flight

In a short time, other components were added. So it is now possible to do semi-autonomous flights. The MikroKopter does tolerate enough burden for a camera, for example, or more sensors. For pilots, the sporty MK has enough agility to fly loops.

Brief Overview of the Mikrokopter

While reading some questions will certainly arise. Here are ways to have a fast answer:

* Read the FAQ
* Search the Forum, especially the International Area for English speaking users
* Take a look at what a finished MK is like
* Create a thread in the Forum
* Ask in IRC for simple questions.

Why a Mikrokopter?

Why be member of the MikroKopter community? This question is not easy to answer. There are many projects that deal with Quadrocopters. All of them have their advantages and disadvantages. A plus point is certainly the great support from the large fan community. It tries to give each newcomer as much as possible to help. Maybe we should also ask: Why not?

Some Theory

It is often asked how can a Quadrocopter even fly. In fact, it's really quite simple.

There are two different couples of rotors that run on Quadrocopters. The front and the rear propeller always run around right (clockwise), the left and the right propeller revolve around the left (anti-clockwise). To be able to float all four rotors must rotate at same speed. This raises the torque along the vertical axis through the different directions of rotation and the Quadrocopter is in the air.

Now, to be able to fly in a direction , the copter is virtually out of balance. At the opposite direction of flight, the propeller speed increases, so that the copter tends into the flight direction. [todo, translate: Durch den nun schräggestellten Luftstrom der Propeller fliegt er in diese Richtung. Beispiel: Beim Vorwärtsflug wird die Drehzal des hinteren Propellers erhöht].
The Forward-Rear movement is known as "nod" or Nick. Right and left is called a "roll".

Turning a copters around its own axis is known as the "yaw". For this movement, the torque to the axis is changed. This is done by changing the speed of two opposite propellers. For a clockwise rotation, the speed of the left and the right propeller is increased, while the front and rear lowered. For a turn in the opposite direction it's obviosly the opposite.

For a steady flight a costant adjustment is needed. This correcting action makes possible for the Mikrokopter to stay balanced in the air. The sensor data are processed and calculated and the engines are activated accordingly (raising or lowering the revs speed). Most of all if the situation is changed by external factors (such as wind). The scheme is in the software of the MikroKopter.


The following are the various components of each MikroKopters explained. For more information, you can follow the links.

The Flight Control

The Flight Control (Ctrl-Flight) is the main board of MikroKopter. On her are the main processor and all the sensors required for a stable flight are necessary.

As a minimum angle of rotation sensors are sensors. Using this software, the position in space and determine ausregeln external influences. It is for each axis of a rotary sensor necessary, for a total of three pieces. These are generally regarded as Gyroscope, or Gyro.

Another sensor is the acceleration sensor. This measures the acceleration in all three levels. The general description is Accellerometer or ACC. Basically, even without flying allerding have this sensor with the ability to automatically MikroKopter back to the horizontal. How can you let go of the remote control and the Kopter is again alone. Without this sensor remains in the Kopter by remote control specified level. This kind of flies would incidentally "Heading Hold".

On the Fligh-Ctrl is also an altitude sensor (optional). This makes it possible to MikroKopter at a fixed height.
The flight Ctrl can be connected to a PC and with the MikroKopter-Tool can be read and modified.

There are two different versions of Flight-Ctrl. Here are the differences:

Version 1.0

Version 1.1/1.2


[AtMega] 644

[AtMega] 644P


1x serial

2x serial




Board color



Otherwise, the two versions are identical.


  • Flight Ctrl - more information

    Ctrl Flight Manual - Instructions for version 1.0

    FlightCtrlAnleitung_V1_1 - building manual for version 1.1


    Acceleration sensor

    Altitude Sensor


    MikroKopter tool for the PC