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The Krooz Autopilot


Krooz UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual Rotorcraft size.


Krooz is based on the 64 pins STM32F405RGT6 Cortex M4 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

  • STM32 microcontroller STM32F405RGT6 datasheet with 1024kB flash and up to 192kB RAM
  • MPU6050 Gyro/Accelerometer sensor
  • MRF24WB0 WiFi or
  • BTM-222 Bluetooth (wire or external antenna connector) or
  • XBee Pro module on board.
  • MS5611 high precision Pressure sensor
  • MAX7456 OSD module for mixing in a flight data into a camera video screen
  • 7 x Analog input channels
  • 4 x 3.3V TTL UART (5V tolerant)
  • 11 x Servo PPM outputs (or 10 if using PPM output receiver)
  • 1 x I2C 5V bus
  • 1 x Micro USB
  • Extra camera control 3 pin connector for flexible camera use
  • 3 x status LEDs with attached test point
  • Up to 35V (8S LiPo) input power control unit
  • ~50mm x ~50mm x ~10mm
  • 2 layers PCB design

So, except for a GPS unit with the Krooz you have all necessary sensors for full features all in one rotorcraft solution.

Usage scenarios

Krooz can be used in different telemetry versions:

Krooz bottom wifi.jpg

  • with the on-board BTM-222 Bluetooth module

Krooz bottom bluetooth.jpg

  • or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

Hardware design


Krooz top ports.jpgKrooz bottom bt ports.jpg



"Krooz" uses an own KroozDFU bootloader (based on libopencm3 project). You can find it here, clone to your PC an build or use a precompiled binary file to upload. However the Krooz board is shipped with the KroozDFU bootloader by default.

Source code

The Krooz source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family. It is available from here