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 150 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 seldom necessary to change them.

3: Hover the aircraft and compare the response to the Multicopter in this video:

4: adjust accordingly to the response.

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:

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 set the maximum value of the available motor power to be used for correction,

so for example 100 is 100%. The "I limit" value is also known as "anti wind-up" in PID theory.

The use of Limits is most important on the yaw axis and to 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

make a 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 dynamics itself.