KK 2.

1 Multi-Rotor Control Board

User Guide
The next evolution of the rotor revolution is here!! The KK2.1 is packing new found power with updated
sensors, memory and header pins.
Designed exclusively for HobbyKing by the grandfather of the KK revolution, Rolf R Bakke, the KK2.1 is
the next evolution of the first generation KK flight control boards and has been engineered from the
ground-up to bring multi-rotor flight to everyone, not just the experts. The LCD screen and built-in
software makes installation and set-up easier than ever.
The original KK gyro system has been updated to the incredibly sensitive 6050 MPU system making this
the most stable KK board ever and adds the addition of an auto-level function. At the heart of the
KK2.1 is the ATMEL Mega 644PA 8-bit AVR RISC-based microcontroller with 64k of memory.
An additional header has been added for voltage detection, so now there is no need for on-board
soldering. A handy piezo buzzer is also included with the board for audio warning when activating and
deactivating the board, which can be supplemented with an LED for visual signaling.
A host of multi-rotor craft types are pre-installed, simply select your craft type, check motor
layout/propeller direction, calibrate your ESCs and radio and youre ready to go! All of which is done
with easy to follow on screen prompts!
If youre new to multi-rotor flight or have been unsure about how to setup a KK board then the KK2.1
was built for you. The 6 Pin USBasp AVR programming interface ensures future software updates will be
quick and easy.
Go ahead and get started.

(Version 3 Jan 2014)

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Introduction
The HobbyKing KK2.1 Multi-Rotor controller manages the flight of (mostly) multi-rotor Aircraft
(Tricopters, Quadcopters, Hexcopters etc). Its purpose is to stabilize the aircraft during flight and
to do this, it takes signals from on-board gyroscopes (roll, pitch and yaw) and passes these
signals to the Atmega324PA processor, which in-turn processes signals according the users
selected firmware (e.g. Quadcopter) and passes the control signals to the installed Electronic
Speed Controllers (ESCs) and the combination of these signals instructs the ESCs to make fine
adjustments to the motors rotational speeds which in-turn stabilizes the craft.
The HobbyKing KK2.1 Multi-Rotor control board also uses signals from your radio system via a
receiver (Rx) and passes these signals together with stabilisation signals to the Atmega324PA IC
via the aileron; elevator; throttle and rudder user demand inputs. Once processed, this
information is sent to the ESCs which in turn adjust the rotational speed of each motor to control
flight orientation (up, down, backwards, forwards, left, right, yaw).

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Initial Set-Up
STEP-1

Mount the FC on the frame with the LCD facing front

and the buttons facing back. You can use the supplied antistatic foam container as a form of protective case for the Flight
Controller on the craft.
STEP-2

Connect the receiver outputs to the corresponding

left-hand side of the controller board. The pins are defined as:

Ensure the negative (black or brown) is orientated so that it is on the pin that is nearest to the
edge of the Flight Controller Board, so looking at the board the colour sequence will be Black,
Red and Orange. The channels are connected as follows from the front of the board towards the
push buttons: Receiver Channel

Flight Controller

Aileron

---

Aileron

Elevator

---

Elevator

Throttle

---

Throttle

Rudder

---

Rudder

AUX1

---

AUX

Typical receiver servo connections are:

STEP-3

Connect the ESCs to the right side of the Flight Controller Board. M1 is towards

the front of the board and M8 is nearest to the push buttons. The negative (black or brown) lead
towards the edge of the FC. The negative (black or brown) lead is connected to the edge of the
Flight Controller.
DO NOT MOUNT THE PROPELLERS AT THIS STAGE FOR SAFETY REASONS

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The completed Receiver and Motor wiring (for a QUAD Copter) looks like this:

The Flight Controller Board must always have a source of +5v from an ESC, either one of the
motors ESC or from a separate unit feeding the Receiver. If each ESC has a BEC (normal unless
OPTO types) then it may be necessary to remove the power feed from the other ESC, usually by
cutting the power line (RED) Cable on the other ESC.
STEP-4

Set up a new model on your transmitter and use a normal airplane profile and

bind the Receiver to the Transmitter.

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PI Editor

STEP-5

Receiver Test

the Up and Down buttons highlight Receiver Test sub-menu and

Mode Settings

press Enter. Now move each channel on your transmitter and check

Stick Scaling

that the displayed direction corresponds with the stick movements on

Misc. Settings
Self-Level Settings
Camera Stab Settings

Turn on the power and press the Menu button, then using

the Flight Controller, if any are reversed, then go to your Transmitter

and reverse that channel. Check that the AUX channel is showing "ON"
when you activate the AUX Switch on your transmitter, if not, reverse
the AUX channel on your transmitter.

Sensor Test

Use the trim or sub-trim controls on your transmitter to adjust the

ACC Calibration

channel values shown on the LCD to zero.

CPPM Settings
Mixer Editor
Show Motor Layout
Load Motor Layout
Factory Reset

PI Editor

STEP-6

Receiver Test

and choose the configuration you want. If the configuration you want is

Mode Settings

not listed, use the "Mixer Editor" sub-menu to make one. See later for

Stick Scaling
Misc. Settings
Self-Level Settings
Camera Stab Settings
Sensor Test

Scroll down to and enter the "Load Motor Layout" sub-menu

more on that.
STEP-7

Enter the "Show Motor Layout" sub-menu and confirm the

following. Is the configuration correct? Are the motors and servos

connected the correct output? Correct rotation direction? Does the
motor speed up when dropping the arm it is mounted on?

ACC Calibration
CPPM Settings
Mixer Editor
Show Motor Layout
Load Motor Layout
Factory Reset

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PI Editor

STEP-8

Receiver Test

each channel, move your Transmitter sticks around to ensure they are

Mode Settings

all working, including AUX1.

Enter the Receiver test" and check for nominal values on

Stick Scaling
Misc. Settings
Self-Level Settings
Camera Stab Settings
Sensor Test
ACC Calibration
CPPM Settings
Mixer Editor
Show Motor Layout
Load Motor Layout
Factory Reset
PI Editor

STEP-9

Receiver Test

using this option to adjust the gain settings. The PREV and NEXT

Mode Settings

buttons to select the parameter to change, then press CHANGE. To

Stick Scaling
Misc. Settings
Self-Level Settings
Camera Stab Settings

Enter the "PI Editor sub-menu and check PI gain values

adjust both Roll and Pitch at the same time, see the "Mode Settings
"sub-menu.
At this stage the propellers can be fitted to test the Flight Control
board. Hold the craft (!) and Arm with right rudder and zero throttle for
a few seconds, it will beep and the RED LED will turn on. Usually you

Sensor Test

should not arm it until you have put the Multicopter on the ground and

ACC Calibration

stepped 5 meters away. After landing, place it in SAFE Mode by holding

CPPM Settings

the rudder to left with zero throttle, it beeps and the RED LED will turn

Mixer Editor

off, always do this before you approach the Multicopter.

Show Motor Layout

If the craft wants to tip over right away, check the connections and

Load Motor Layout

Factory Reset

your custom made mixer table if you have one. If it shakes and climbs
after its airborne, adjust the Roll and Pitch Pgain down or if it easily
tips over after its airborne, adjust up. If it drifts away, use the trims to

keep the drift down. It will normally drift with the wind. If you need excessive trim, check if the
arms and motors have the correct angles and that the motors are good. Increase the Roll and
Pitch I gain (note the difference from P gain) until it flies straight forward without pitching up or
down. Turn on the Self-levelling by holding right aileron while arming or disarming it. Turn it off
by holding left aileron. Alternatively you can assign this to the AUX channel. See below so Submenu descriptions.

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PI Editor

STEP-10 Enter the "Mode Settings" and check and adjust:

Receiver Test

"Self-Level": Determines how the self-levelling function will be

Mode Settings
Stick Scaling
Misc. Settings
Self-Level Settings

controlled, either by STICK or an AUX Channel.

"STICK MODE": Self-levelling is turned on by holding the aileron to the
right when arming or disarming. Turn it off with left aileron.
"AUX": Self-levelling is turned on/off by the AUX Channel.
"Auto Disarm": If set to YES then Flight Control board will

Camera Stab Settings

automatically disarm itself after 10-mins of inactivity.

Sensor Test

"CPPM Enabled": Determine if the Flight Control Board is to use CPPM

ACC Calibration

data input.

CPPM Settings
Mixer Editor
Show Motor Layout
Load Motor Layout
Factory Reset

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PI Editor

STEP-11

Receiver Test

adjust the response from the stick to your liking. Higher number gives

Mode Settings

higher response and lower numbers the converse. This is similar to

Stick Scaling

the endpoint or volume adjustment on your transmitter, where you

Misc. Settings
Self-Level Settings
Camera Stab Settings
Sensor Test

Enter the "Stick Scaling" option, where you can

can adjust your transmitter to adjust the stick response and use the
stick scaling if you want more or less response from stick inputs.
"Misc. Settings":
"Minimum Throttle": Adjust the setting so that the motors just keep

ACC Calibration

running when the Transmitter throttle stick is at a minimum.

CPPM Settings

"Height Dampening": This option uses the Z accelerometer to dampen

Mixer Editor

vertical movements caused by wind or when tilting the craft. A

Show Motor Layout

recommended setting is 30.

Load Motor Layout

"Height D. Limit": Adjust to limit control for Height Dampening to

Factory Reset

prevent over control, this limits how much power is available for
dampening. A recommended setting is 10 (10%).

"Alarm 1/10 volts: Adjusts the battery alarm voltage set-point. When set to 0 (zero) the alarm
is disabled. Adjust this value to suit the battery in use and monitored by the Flight Control Board
sensor input. For a standard 3-cell LiPo battery of 11.1volts use a value of 3.60 volts per cell to
denote an empty battery and then set this value (in 1/10s) to (3.6 x 3 * 10) = 108 and when
the supply voltage drops to 10.8volts the alarm will sound. Note, if you set this value above zero
and no battery is attached / monitored then the alarm will sound. As the voltage being monitored
nears the set point the time between beeps will shorten, so a long time between pulses when the
alarm voltage is getting close to very short time intervals when the voltage is at the alarm set
point.
Servo Filter: This setting is a Low-Pass Filter, that enables channel jitter to be ignored, a good
setting to start off with is 50 (mS). If you experience channel jitter then increase this value, if
none then set to 0 (zero).

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PI Editor

"Sensor Test":

Receiver Test

Displays the output from the sensors. See if all shows "OK". Move the

Mode Settings

FC around and see that the numbers change.

Stick Scaling
Misc. Settings
Self-Level Settings
Camera Stab Settings

"ACC Calibration":
Follow the instructions on the LCD to calibrate the Acceleration
Sensors, which is only necessary to do once at initial setup.

Sensor Test
ACC Calibration
CPPM Settings
Mixer Editor
Show Motor Layout
Load Motor Layout
Factory Reset
PI Editor

"CPPM Settings":

Receiver Test

This menu allows different Transmitter manufacturers standards for

Mode Settings
Stick Scaling
Misc. Settings
Self-Level Settings
Camera Stab Settings
Sensor Test

CPPM channels to be re-assigned, thus:

Roll (Ail):

to

2 (an example)

Pitch (Ele):

to

1 (an example)

Throttle:

to

4 (an example)

Yaw(Rud):

to

5 (an example)

AUX:

to

3 (an example)

This enables the Flight Control board to match any suppliers standard.

ACC Calibration
CPPM Settings
Mixer Editor
Show Motor Layout
Load Motor Layout
Factory Reset

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PI Editor

Mixer Editor:

Receiver Test

Channel: Select the channel to be adjusted.

Mode Settings

"Throttle": Amount of throttle command. Usually 100% if the output

Stick Scaling

channel is connected to an ESC.

Misc. Settings
Self-Level Settings
Camera Stab Settings

"Aileron": Amount of aileron/roll command. Use positive value for

motors on the right side of the roll axis and negative for the left side of
the roll axis. The value is given by the motor's distance from the roll
axis. Increased values denote a further distance.

Sensor Test

"Elevator": Amount of elevator/pitch command. Use a positive value

ACC Calibration

for motors on the front side of the pitch axis and negative value for the

CPPM Settings

back side of the pitch axis. The value is given by the motor's distance

Mixer Editor

from the pitch axis. More is further away.

Show Motor Layout

"Rudder": The amount of rudder/yaw command. Usually 100%. Use a

Load Motor Layout

Factory Reset

positive value for a CW spinning propeller and negative for a CCW

spinning propeller.
"Offset" Item: Applies a constant offset to the channel. Keep this zero

when it is an ESC channel and around 50% when connected to a servo or on the AUX channel.
You can fine tune the channels position by adjusting this value.
"Type:" Item: Set it to the type (servo or ESC) connected to the channel. For ESC: Output PWM
rate is always high. Outputs zero when disarmed or throttle is at idle. Applies the "Minimum
Throttle" item from the "Misc. Settings" sub-menu when armed and throttle is above zero.
For the Servo setting: Output PWM rate can be high or low. Outputs the offset value when
disarmed or throttle is at idle.
"Rate": High rate (400Hz) for ESC or digital servos, or low rate (80Hz) for analogue servos.

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Tuning Guide
1: Make sure the KK2 reads the transmitter stick neutrals. Go to the "Receiver Test" menu and
use the trims to get the values to zero.
2: Go to the "PI Editor" menu and set P to 50 and I to zero for both the Roll and Pitch Axis. It is
only necessary to edit the roll axis, pitch axis will be automatically changed to the same values
as the roll axis. Leave the P-limit and I-limit alone, it is not necessary to change them.
3: Hover the aircraft and compare the response and adjust accordingly if required.
If you are a new flier and the craft is not yet flying around, just leave the I-gain at zero or the
default value. Also the Yaw PI-gains can be left at default, but remember to zero them if you use
the string (the craft suspended from a piece of string along one of its axis) tuning method.
Recommended / Default PI editor settings for first flight:
Roll/Pitch Axis:
Pgain = 50
Plimit = 100
Igain = 25
Ilimit = 20
Yaw Axis:
Pgain = 50
Plimit = 20
Igain = 25
Ilimit = 10
Default gains are set to 50/50/50 (roll/pitch/yaw) P-term, and 25, 25, 50 I-term.
Limits are used to limit the maximum value of the control that can be used to make corrections
and a value of 100 means 100%. The "I limit" value is also known as "anti wind-up" in PID
theory and use of Limits is most important on the yaw axis to prevent a yaw correction from
saturating the motors (giving full or no throttle), then causing no control to the roll/pitch axis.
The default values permit 30% ("P Limit" 20 + "I limit" 10) of the motor power to be used to
make a yaw correction, with 70% available for the roll/pitch axis. The Yaw P Limit" can be
increased for faster Yaw response, but note Yaw response is limited by the craft dynamics 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 the original attitude. However, if set too high, problems occur as
the controller tries to correct with opposite control input and then when the conditions disappear,
the craft will try to return to an unknown attitude. It is recommended to leave the limit values as
default. Default values have no impact on The PI tuning process. Also leave the self-level "I gain"
and "I limit" at zero.

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Tuning P and I settings

P-gain too low:
- Craft is hard to control
- When flying it is easy to over-correct a command and the craft is jittery
- Craft lacks overall stability
- Control inputs feels slow and imprecise when the craft responds
P-gain too high:
- Craft suffers from side to side oscillation
- Craft easily gains or loses height
- It is hard to maintain any given height
P-gain correct:
- Craft is easy to control
- Craft takes off easily and smoothly straight into a stable hover
- Craft is easy to fly and feels stable
I-gain too high:
- Similar flight characteristics to P-gain that is too high
- Craft oscillates with a low frequency, shakes
- Craft flies a toilet-bowel circuit
Aerobatic flight PI Settings:
Increase the P setting slightly from its stable flight value
Decrease the I setting from its stable flight value
Gentle smooth flight:
Decrease the P setting slightly from its stable flight value
Increase the I setting a slightly from its stable flight value
Proportional Gain coefficient is needed for relatively stable flight and is an essential parameter. This coefficient
determines the mix between on-board controls from the gyros and user stick inputs. As the coefficient is increased
the craft will be more sensitive and reactive to angular changes. If too low, the craft will be sluggish and difficult to
keep steady and if too high, may oscillate with a high frequency.
Integral Gain coefficient is needed to increase the precision of an angular position. For example when the craft is
disturbed by wind and its angular position changes by say 20 degrees, it in theory remembers how much the angle
changed and will attempt to return by 20 degrees. In practice if the craft goes forward and then command a stop,
it will continue for some time to counteract the action. Without this term, the opposition does not last as long. This
term is especially useful with irregular wind, and ground effect (turbulence from motors). If the However, when the
I value gets too high your craft will begin to have slow reactions and will decrease the effect of the Proportional
gain as consequence, it will also start to oscillate as if it has the P gain set to high, but with a lower frequency.

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Gimbal Connection Guide

PI Editor

Enable the Camera Control by turning it on by going to "Cam Stab

Receiver Test

Settings" screen and set the gains to a non-zero value. Start with 500.

Mode Settings

A negative value reverses servo direction. Adjust value until camera is

Stick Scaling
Misc. Settings
Self-Level Settings

steady.
1. The Gimbal Roll servo is connected to

Motor-7 output.

2. The Gimbal Pitch servo is connected to Motor-8 output.

Camera Stab Settings

Sensor Test
ACC Calibration
CPPM Settings
Mixer Editor
Show Motor Layout
Load Motor Layout
Factory Reset

Connection diagram:

3. Use the offset values to trim servo position, but keep the values close to 50% by adjusting
servo linkage first.
4. The camera stabilisation starts as soon as you move the Throttle any stick
5. If you put the Throttle at Idle/Minimum the camera stabilisation will be switched-OFF. NOTE:
If you are using an OPTO ESC you may need an external 5v power source from an SBEC.

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Accessing the Self-Levelling Mode

1. You can access the self-levelling mode either from the settings of STICK or AUX channel.
2. When set to AUX Mode you must connect a spare channel usually CH5 or Ch6 and changing
the Transmitter switch position will enable/disable Self-Levelling mode.
3. When set to STICK Mode to go into Self-Levelling Mode, you must set the Throttle to
Minimum and set maximum Left Rudder whilst at the same time, setting maximum Left
Aileron to disable SL or maximum Right Aileron to enable SL.

Flight Controller Sounds

1. One Beep (short beep, 2 sec delay) is emitted when the board is armed and the throttle is
closed, this is for safety reasons so you know its armed.
2. One Long Beep is emitted when the board is either Armed or Disarmed.

Status Screen
1. Displays the message "SAFE" and the KK2 will not arm unless it says "OK"

General Points
1. Error messages can only be reset by cycling the power, except for the "sensors not
calibrated" message, which is reset after a successful sensor calibration.
2. Error messages include lost RX connection.
3. The KK2.1 has an auto-disarm function and will disarm itself after 20 sec if throttle is at idle.
For extra safety. Can be turned on/off in "Mode Settings" menu.

Lost Model Alarm

1. The KK2.1 has a lost aircraft alarm and starts to beep (1 sec on and 4 sec off) after 30min of
no activity (arm/disarm).

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Model Types Supported

Dualcopter
Tricopter
Y6
Quadcopter +
Quadcopter X
Hexcopter +
Hexcopter X
Octocopter +
Octocopter X
X8 +
X8 X
H8
H6
V8
V6
Aero 1S Aileron
Aero 2S Aileron
Flying Wing
Singlecopter 2M 2S
Singlecopter 1M 4S

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