User Manual

Self-level Settings
Self Level Settings are independent from normal PI settings.
• P Gain – The power of the self-levelling. Higher number is stronger. Too high will cause
oscillations. To low and it’s slow to self level.
• P limit – Limits the max power of self levelling. Higher number is higher limit.
• ACC Trim Roll – compensates for self level drift when the KK2.1.X had the ACC calibrated
when it wasn’t exactly level.
• ACC Trim Pitch – compensates for self level drift when the KK2.1.X had the ACC calibrated
when it wasn’t exactly level.
• It’s better to calibrate the ACC with the KK2.1.X level rather than use the trims. Make sure
the KK2.1.X is mounted level in the multicopter.
Camera Stab Settings
Various settings
• Roll gain – when set to zero, camera gimbal is disabled and motor output (M7 & M8) can be
used for a motor/servo output as configured by Motor Layout / Mixer Editor. If using a
camera gimbal, increase this value to enable servo movement. Start with a value around
500. If the servo moves in the wrong direction, change to a negative value.
• Roll offset – percentage of Roll servo offset. Default is 50%. Keep this value as close to 50%
as possible. Move the servo horn rather than adjusting the offset.
• Pitch gain – when set to zero, camera gimbal is disabled and motor output (M7 & M8) can be
used for a motor/servo output as configured by Motor Layout / Mixer Editor. If using a
camera gimbal, increase this value to enable servo movement. Start with a value around
500. If the servo moves in the wrong direction, change to a negative value.
• Pitch offset – percentage of Pitch servo offset. Default is 50%. Keep this value as close to
50% as possible. Move the servo horn rather than adjusting the offset.
• Trick to map receiver outputs to motor outputs – If you have a CPPM, Satellite or SBus
receiver and you’re not using outputs M7 or M8, you can mirror Ch6 & Ch7 to the M7 & M8
outputs by setting both the Roll and Pitch gains to 1 and selecting Misc. Settings 2, Gimbal
Control, “6&7”. You could then connect a receiver controlled switch to M7 and/or M8 and
control it using your transmitter.