The only required external dependency is the
avr-gcc cross compiler,
available on most platforms. You also need the tiny
avr-libc C library.
Check your system documentation for getting these software.
The package uses the
autoconf framework to build and install itself. Simply
run the bundled
configure script to compile and install the software. For
% ./configure --prefix=$HOME/devel % make install
You can check the autoconf online documentation for more help.
To generate the
The package installs mainly two files in your installation prefix:
<prefix>/lib/tk3-firmware/mkbl, for the brusheless ESC.
<prefix>/lib/tk3-firmware/mkfl, for the flight controller board.
In order to program both the brushelss and flight controller, you have to
upload the programs in the microcontroller flash memory. This can be done with
tk3-flash program, available at
The reason why a specific program is needed is because the mikrokopter hardware
uses a custom bootloader (that is not replaced by this package, so that you can
always flash back the original mikrokopter software) and also because both the
mkfl programs have dynamic parameters, stored in the 'EEPROM'
memory, than can be changed with the
tk3-flash utility without recompiling
When uploading a program for the first time, make sure to use the