User Manual

V1.14S1Pro changes since HK V1.6 for KK2.1.X
Default MPU6050 settings now 500 deg/sec and 4g which are close to KK2.0 so P&I and Stick Scale
values should be close to those used on KK2.0
If you fly aggressive acro, you will need to increase the gyro rate to 2000 deg/sec.
***** No need to change P&I or stick scaling settings when changing gyro rate *****
Warnings:
i) Firmware will reset all settings and you will need to select a motor layout.
Critical bug(s) corrected:
i) Corrected pin assignment for Output 5 and Output 6
ii) Initialisation settings didn't get written to the MPU6050 so it was stuck on 250 deg/sec and 2g
Minor bug(s) corrected:
i) Updated KK1_6_MPU6050 to remove unused code for menu button press (thanks RC911)
ii) Updated KK1_6_MPU6050 to correct Meny code to disable OCR1A and B interrupt (thanks RC911)
iii)Changed/Corrected I2C routines so they actually work now
iv) Tidied up I2C routine for burst reading of sensor data
v) More accurate battery voltage - adjusted to read the same as my KK2.0 (thanks HappySundays) -
updated again from V1.14S1 after testing on three KK2.1s.
vi) Corrected low voltage alarm calculation
vii)Correct constants are now used in imu.asm and trigonometry.asm depending on acc and gyro
setting so no problems with self level
viii)Stick Scaling does not need to be modified (except for fine tuning) when changing gyro rate
ix) RC911 bug fix in the Number Editor (original firmware) that allowed setting a value to zero (CLR)
when the lower limit was higher.
x) RC911 bug fix in the original firmware that kept the "Link Roll Pitch" flag from being updated until
the user returned to the SAFE screen.
xi) From V1.14S1, small bug fixed in imu.asm for 0.5G to 1.5G test (thanks jmdhuse).
Additions:
i) Debug Menu (added back) plus some extra values displayed
ii) Version Menu
iii) Sensor Max Min Menu (records max and min gyro and acc values when armed and SL is off)
iv) MPU6050 Settings Menu (view and change gyro deg/sec, acc g and digital low pass filter - see
Note 3 below)
v) MPU6050 Temperature shown on SAFE screen