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Jun 20, 2012, 07:17 AM
Quad Whisperer
Thread OP

The new KK2 FC, info and Q&A in first post. Read it before asking a question.

FW V1.1 here. (Do not use, but read page for information about the FW.)
FW V1.2 here. (Do not use, but read page for information about the FW.)
FW V1.3 here. (Do not use, but read page for information about the FW.)
FW V1.4 here. (Do not use, but read page for information about the FW.)
FW V1.5 here. (Same as V1.4, but with added camera stabilization support. See video below.) (Do not use, but read page for information about the FW.)
FW V1.6 here

Do not use metal hardware to mount your KK2. It may short out the PCB tracks and break the KK2.

Hi all, I designed this one to be easy to use for the noobs, and still be better than the KK1.

The gadgets-freaks will not pitch a tent over this one, It is the same, tired old AVR-chip. (Sorry TC ) However, it runs on a 20MHz crystal, so output resolution and jitter is better than before.

Some improvements:

-No confusing potmeter directions.

-No gyro reversing needed since the FW is for a fixed HW setup.

-Self-leveling. It uses acc tilt-angle measurement. Later I will try to add a full AHRS algorithm like the big boys use since it is better. (less delay) Done.

-No PC necessary. All adjustments and multicopter type selecting is done with the LCD and buttons.

-The transmitter setup can be checked before first test. (channels and direction)

-low drift gyros.

-graded low-voltage-alarm, adjustable in 0.1V increments.

-motor numbering and propeller direction is visible on the LCD.

-Custom mixer.

It will become open source when the first update is available. But beware, it is still written in Evil Assembly!!



The first 17 seconds is with the KK1, the rest of the video it is with the KK2: (Self-level is not used)

The annoying Mini UFO (6 min 1 sec)

KK2 Self-level toss test (1 min 31 sec)

Hobbyking's KK2 Control Board: THE WALKTHROUGH (10 min 12 sec)

Hobbyking's KK2: QUICK START TUNING GUIDE (4 min 9 sec)

Hobbyking's KK2 control Board Flight test (8 min 34 sec)

Hobbyking KK2 board setup for gain and auto level with flight video (11 min 30 sec)

Calibrate ESC's using the KK2 Board (0 min 50 sec)

Gimbal set up on the KK2 controller with firmware version 1.5 (8 min 1 sec)

Roll/pitch P-tuning:

Set the gains and limits to the following values:

Roll/Pitch P-gain: 30 (For a small 25cm size set to 20)
Roll/Pitch P-limit: 100
Roll/Pitch I-gain: 0
Roll/Pitch I-limit: 20

Yaw P-gain: 50
Yaw P-limit: 20
Yaw I-gain: 0
Yaw I-limit: 10

Now, Increase Roll/Pitch P-gain by 10 (5 or less for a small aircraft) at a time, and test your aircraft response by hovering and move the left stick in short and fast movements.

See this video:
PI tuning: Response test (1 min 45 sec)

As you increase the gain you will notice:

1: The aircraft reacts faster and feels more connected to the stick movement and wander less on its own.
2: The aircraft may oscillate for a short time. Usually a few oscillations, but may be more if gain is high. If it oscillates continually the gain is too high.
3: The aircraft may be harder to land, it bounces back when touching down.
4: The aircraft may climb.

When the aircraft has a good response and does not oscillate or climb when testing, P-gain is good.

Roll/pitch I-tuning:

1: Trim it level.
2: Fly fast forward and center the stick.

If it level itself, increase I-gain.
If it stays in attitude, I-gain is good.

Alternatively setting I gain to 50-100% of P-gain does the trick.

Yaw P-tuning

Increase Yaw P-gain by 10 (5 or less for a small aircraft) at a time, and test your aircraft response by hovering and move the Yaw control stick until it have

yawed about a quarter of a circle, and then center it.

As you increase the gain you will notice:

1: The aircraft start and stops faster.
2: The aircraft overshoots less.
2: The aircraft may start to climb or descend.

When the aircraft has a good response, has a minimum of overshoot and does not climb or descend, P-gain is good.

Alternatively, set it to 100% of Roll/Pitch P-gain

Yaw I-tuning

Increase Yaw I-gain by 10 (5 or less for a small aircraft) at a time, do the same test as above.

When the aircraft overshoots even less, I-gain is good.

Alternatively, set it to 100% of Yaw P-gain.

If you have a small and not dangerous aircraft, you can disturb it around the yaw-axis and see if it returns. increase if not.

It is generally good to keep the gain values in the low range. Excessive gain may introduce vibration and control issues.

Also look at this video:
Multicopter PI-tuning: How to recognize different settings. (7 min 52 sec)

Airplane use:

1: setup the TX as described in the manual.
2: Connect the motor ESC to the RX as ordinary.
3: Connect a BEC to output#8, to supply the servos. Leave output#1 unused.
4: Using the mixer editor, find and connect the servos to the other outputs.
5: If you need to reverse a function (aileron, elevator, rudder), negate all mixing values for that function on all servos that are used by that function.
6: If you need to reverse a servo, negate the mixing value for that function on the servo in question.
7: adjust the stick scaling to get the required stick response.
8: adjust the mixing values to change the throw.

I recommend setting the I gains to zero when testing.

Alternatively, you can wait for HappySundays OpenAero firmware:

Q&A: (Some of the text is borrowed from other users posts in this thread.)

Q: It lists "Singlecopter 1M 4S", does that mean it could be used on say a Trex450?
A: No, but it is possible to configure the mixer for a heli. I will get me a cheapo 450 and see how well it works as a flybarless controller!

Q: Is it possible to write FW on this controller to use as standalone Camera gimbal like the multiwii?
A: Yes, I will write a camera gimbal FW for it.

Q: How does the low voltage alarm work? I can not see any connections for input V?
A: The Battery voltage input is the unpopulated hole to the left of the yellow component. Connect a cable from battery+ to this hole. The ground return is through Output #1's ground wire. Go to "Misc. Settings", "Alarm 1/10 volts:" to set the threshold. It is in 1/10 volts, so 10.5V is entered as "105". The LVC is only active when battery voltage is below the limit. When it goes above, it stops. Also it beeps faster the lower the voltage is below the limit.

Q: Does the aeroplane mode also include autolevelling? or is that only available for copters?
A: It is available for planes too, but that combination is not tested. I will do it when I get more KK2's

Q: CPPM input mode?
A: I will try to add CPPM mode. Done.

Q: If the gyro can work on 2000 deg/sec, why not make the 2000 deg/sec as the working output? Which solder jumper need to be mod?
A: The 440 deg/sec gives a higher resolution. The jumpers is on a horizontal line below the two black chips at the top. From left to right: X, Y and Z axis. The pads already connected with a trace is 440 deg/sec. Cut this trace and connect (solder a thin wire) the center pad to the opposite pad to get 2000 deg/sec. Be careful not to short out the trace that runs in between the pads.

Q: Why is Autolevel so slow?
A: The autolevel is based only on the ACC. It takes some time before the ACC registers tilt due to the horizontal acceleration of the craft when tilting. It needs some speed to get air resistance and a force on the ACC. Therefore the autolevel works best on draggy crafts. Later I will try to implement a AHRS algorithm, which uses both ACC and gyros to get a immediate tilt angle. Done.

Q: What are the "limit" values in "PI Editor"?
A: About the "limit" values. They set the maximum of the available motor power to be used for correction. 100 is 100%. The "I limit" value is also known as "anti wind-up" in PID theory.
The limits is most important on the yaw axis. The prevent a large yaw correction from saturating the motors (giving full or no throttle), causing no control of the roll/pitch axis.
The default values permit 30% ("P Limit" 20 + "I limit" 10) of the motor power to be used to yaw correction, making 70% available for the roll/pitch axis, the most important ones.
You can increase "Yaw P Limit" for faster Yaw response. Note that Yaw response is also limited by the craft itself.
You can increase "Roll/Pitch/Yaw I Limit" for increased heading-hold "memory", that is how far it can deviate and still return to original attitude. Too large memory can cause problems if you have a "blow out" on one of the axis, tries to correct it with opposite control input and then when the blow-out conditions disappear, the craft will try to return to an unknown attitude.
Unless you know what you are doing, leave the limit values as default. Default values has no impact on The PI tuning process.
Also leave the self-level "I gain" and "I limit" at zero. The I part of the self-level algorithm does not work well, this will be fixed later. (Accelerometers is too slow)

Q: Could you explain in detail how does the Height Dampening and Limit works?
A: "Height Dampening" in "Misc. settings" uses the Z accelerometer to dampen vertical movements caused by wind or tilting the craft. "Height D. Limit" Limits how much power available for dampening. Try 30 for the "Height Dampening" and 10 (10%) for "Height D. Limit".

Q: Why does my Peizo buzzer keep making a beeping noise no matter what values I put on the "Alarm 1/10" voltage settings?
A: You must connect the battery voltage input to the battery. See question 3.

Q: Can I use the KK2 with a cheap HK 4 ch radio?
A: That will be fine but if you want to turn on/off the auto level function you will need to do that at the LCD where as a 5th channel will enable you to do it from your transmitter.

Q: I accidentally adjusted the contrast such that I cannot read the screen now.
Does anyone know how to do a reset to default contrast?
A: Turn the KK2 off and on again.
push button 4
push button 3 (four times )
push button 4
push button 3
push button 4
push button 1
push button 3 (36 times)
push button 4

Q: In Tricopter configuration the LCD motor layout suggests that all the motors rotate clockwise. Is that correct?
A: On a Tri any combination of CW and CCW can be used, but the best is to have one of CW or CCW and the other two in the other direction.

Q: How to reverse the yaw gyro for a tricopter?
A: Go to the "Mixer Editor" and change the channel (number to the upper right) to 4 where the yaw servo is connected. Then change the "rudder" mix value to -100.

Q: Why that nut job of a ESC calibration sequence?
A: I know that some of you will try to calibrate the ESC with the propellers on, so by requiring to hold down buttons while calibrating, you will probably let go of the buttons and cause the motors to stop when the propellers start to slice through your arms. Also this makes it impossible to leave the ESC calibration on permanently. Why two buttons? In case some buttons get stuck, it will not enter ESC calibration mode accidentally. I see some defeats this by using clothes pins to press the buttons, but I recommend getting help from a friend. Of course, if you do remove the props, use the clothes pins!


Known bugs:
1: Arming LED stays on when entering the menu in "arming always on" mode.
2: LCD is sometimes blank on power up. Press menu to get the text to appear.
3: Bug in the flying wing mixing table. The offset on output#2 and 3 is zero, but should be around 50.

To do list:
1: Improve the Self-leveling.
2: Add configurable low pass filter for the servo outputs, to avoid excessive shaking and premature servo failure when using low-end servos.
3: Write a better tuning guide.
Last edited by kapteinkuk; May 25, 2013 at 07:33 PM.
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Jun 20, 2012, 07:39 AM
Multirotor Builder!!!!!
KK , you are the man, the board looks really nice. I did notics though, that one config was missing. the Y4 setup for people that might want to use this on a V-tail quad. either way though it will be great for the new guys.
Jun 20, 2012, 08:03 AM
OpenAeroVTOL developer
HappySundays's Avatar
Originally Posted by kapteinkuk
It will become open source when the first update is available. But beware, it is still written in Evil Assembly!!

Here is a buddycode, get it for $19:
I just bought three with the buddy code
OK kapteinkuk, I realise you will open source it eventually but can you release the circuit to save me the effort reversing it? Pretty please?
What about the LCD? Can you point to any datasheets about driving it?
Any help is much appreciated.
Last edited by HappySundays; Jun 20, 2012 at 08:10 AM.
Jun 20, 2012, 08:35 AM
Registered Fiend
microrcfiend's Avatar
How do I use the buddy code in the uk? All I see is 29.99
Jun 20, 2012, 08:35 AM
Registered User
blacksto's Avatar
Here is a buddycode, get it for $19:[/QUOTE]

I am planning to enter the multi-rotor world, so I have ordered one of these, I hope I will be able to successfully make a tri-copter and a quad copter, I wonder which one is easier to maneuver for newbies.
Thank you for the buddy code, I apreciate all your hard work, and I hope more good things will com to this little board like magneto and barometers and gps hold and stuff
Greetings from Cluj-Napoca, Romania!
Jun 20, 2012, 08:37 AM
Registered User
Originally Posted by microrcfiend
How do I use the buddy code in the uk? All I see is 29.99
Go to HK site - Login - then copy/paste link in and voila!
Jun 20, 2012, 08:38 AM
Registered User
blacksto's Avatar
Originally Posted by microrcfiend
How do I use the buddy code in the uk? All I see is 29.99
You have to log into your account on HobbyKing in a new tab, then click on the link here, then you will be redirected to the site with the promo applied.
Hope it helps!
Regards, Alpar
Jun 20, 2012, 08:54 AM
You can't take the sky from me
Rastislavko's Avatar
I just hope there will be somebody able to rewrite the Evil Assembly into Friendly C :-)
Jun 20, 2012, 09:13 AM
Pilot not Drone Operator
hallstudio's Avatar
is the quad software the 4.6 and the tri 1.6 or somthing else?
Jun 20, 2012, 09:14 AM
My Karma ran over my Dogma
fireslayer26's Avatar
KK with auto level and LCD board!! SWEET!
Jun 20, 2012, 09:18 AM
Do a Barrel Roll!
rcbif's Avatar
This is great! The "stick scaling" will make this great for those without expensive computer radios! Multicopters are getting so easy to get into!

And a ?

What are the flight characteristics with the autolevel? Do you still have control when it is on, or does it take control like an autopilot and level the multi until you turn it off?
Jun 20, 2012, 09:22 AM
Master of Flash
LazyZero's Avatar
Originally Posted by hallstudio
is the quad software the 4.6 and the tri 1.6 or somthing else?
It is new, all mixings are in one firmware, and you can switch by LCD.
Jun 20, 2012, 09:25 AM
Registered User
Originally Posted by fireslayer26
KK with auto level and LCD board!! SWEET!
strangely enough see here ...
Jun 20, 2012, 09:35 AM
Nice work Rolf. Are these going to sell out for ever like OC, or can we wait a while?
Jun 20, 2012, 09:36 AM
Plane and multirotor's - FPV
DrEvil's Avatar
Subscribing !!

Bought 2 pcs.

And i have had a KK+ with Mems and Acc for almost one year already ;-)

Go Mike and Happy !! ;-)

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