User Manual

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.