KK 2.1 Multi-Rotor Control Board
Contents
1. 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 you re ready to go All of which is done with easy to follow on screen prompts If you re new to multi rotor flight or have been unsure about how to setup a KK board then the KK2 1 was buil2. disarmed or throttle is at idle Rate High rate 400Hz for ESC or digital servos or low rate 80Hz for analogue servos D Bird 2014 Page 10 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 Th
3. with is 50 mS If you experience channel jitter then increase this value if none then set to 0 zero D Bird 2014 Page 8 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 ACC Calibration Follow the instructions on the LCD to calibrate the Acceleration Misc Settings Self Level Settings Sensors which is only necessary to do once at initial setup Camera Stab Settings 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 CPPM channels to be re assigned thus Roll Ail 1 2 Stick Scaling dial 5 30 SSaMiDic Pitch Ele 2 to 1 an example Misc Settings Throttle 3 to 4 an example self Level settings Yaw Rud 4 to 5 an example Camera Stab Settings AUX 5 to 3 an example Sensor Test This enables the Flight Control board to match any supplier s standard ACC Calibration CPPM Settings Mixer Editor Show Motor Layout Load Motor Layout Factory Reset D Bird 2014 Page 9 PI Editor Receiver Test Mode Settings Stick Scaling Misc Settings Self Level Settings Camera Stab Settings Sensor Test ACC Calibration CPPM Settings Mixer Editor Show Motor Layout Load
4. Motor Layout Factory Reset Mixer Editor Channel Select the channel to be adjusted Throttle Amount of throttle command Usually 100 if the output channel is connected to an ESC 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 Elevator Amount of elevator pitch command Use a positive value for motors on the front side of the pitch axis and negative value for the back side of the pitch axis The value is given by the motor s distance from the pitch axis More is further away Rudder The amount of rudder yaw command Usually 100 Use a 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
5. O SERVO CAMERA STABILIZZATION Enable the Camera Control by turning it on by going to Cam Stab Settings screen and set the gains to a non zero value Start with 500 A negative value reverses servo direction Adjust value until camera is steady 1 The Gimbal Roll servo is connected to Motor 7 output 2 The Gimbal Pitch servo is connected to Motor 8 output gt TO PIN NUMBER 7 OR 8 gt THE SAME POWER SOURCE 5V CONNECTED ONLY THE PIN Ni IS THE POWER SOURCE FOR THE KK2 BOARD TO LIPO BATTERY 3 Use the offset values to trim servo position but keep the values close to 50 by adjusting servo linkage first 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 D Bird 2014 Page 13 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 Flig
6. e 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 D Bird 2014 Page 11 You can also increase Roll Pitch Yaw I Limit for increased heading hold memory that is how far it can deviate and still return to original attitude Too large a memory can cause problems if you have a blow out on one of the axis and the Flight Controller tries to correct it with opposite control input and then when the blow out conditions disappear the craft will try to return to an unknown attitude It is recommended that unless you know what you are doing to leave the limit values as default Default values has no impact on The PI tuning process Also leave the self level I gain and I limit at zero D Bird 2014 Page 12 Gimbal Connection Guide PI Editor Receiver Test Mode Settings 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 Connection diagram T
7. he same time see the Mode Settings F 7 sub menu Misc Settings At this stage the propellers can be fitted to test the Flight Control Self Level Settings RO board Hold the craft and Arm with right rudder and zero throttle for SIMO SE DEI 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 your custom made mixer table if you have one If it shakes and climbs after it s airborne adjust the Roll and Pitch Pgain down or if it easily Factory Reset 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 cha
8. ht 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 it s 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 D Bird 2014 Page 14 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 D Bird 2014 Page 15
9. k scaling if you want more or less response from stick inputs Misc Settings Minimum Throttle Adjust the setting so that the motors just keep running when the Transmitter throttle stick is at a minimum Height Dampening This option uses the Z accelerometer to dampen vertical movements caused by wind or when tilting the craft A recommended setting is 30 Height D Limit Adjust to limit control for Height Dampening to 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 10 s 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
10. nnel See below so Sub menu descriptions D Bird 2014 Page 6 PI Editor STEP 10 Enter the Mode Settings and check and adjust Receiver Test Self Level Determines how the self levelling function will be 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 Mode Settings Stick Scaling Misc Settings Self Level Settings 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 D Bird 2014 Page 7 PI Editor Receiver Test Mode Settings 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 STEP 11 adjust the response from the stick to your liking Higher number gives Enter the Stick Scaling option where you can higher response and lower numbers the converse This is similar to the endpoint or volume adjustment on your transmitter where you can adjust your transmitter to adjust the stick response and use the stic
11. own Enter D Bird 2014 Page 2 Initial Set Up Controller on the craft Orange Signal g Brown STEP 1 Mount the FC on the frame with the LCD facing front and the buttons facing back You can use the supplied anti static foam container as a form of protective case for the Flight STEP 2 Connect the receiver outputs to the corresponding left hand side of the controller board The pins are defined as Red 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 Typical receiver servo connections are Conrad Receiver Channel Flight Controller Aileron sla Aileron Elevator Elevator Throttle a Throttle Rudder Rudder AUX1 AUX Futaba Multiplex Robbe Microprop Sim prop EE DD EE STEP 3 Connect the ESC s 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 D Bird 2014 Page 3 The completed Receiver and Motor wiring for a QUAD Cop
12. ransmitter 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 Use the trim or sub trim controls on your transmitter to adjust the channel values shown on the LCD to zero STEP 6 Scroll down to and enter the Load Motor Layout sub menu and choose the configuration you want If the configuration you want is not listed use the Mixer Editor sub menu to make one See later for more on that STEP 7 following Is the configuration correct Are the motors and servos Enter the Show Motor Layout sub menu and confirm the connected the correct output Correct rotation direction Does the motor speed up when dropping the arm it is mounted on Page 5 PI Editor STEP 8 Enter the Receiver test and check for nominal values on Receiver Test each channel move your Transmitter sticks around to ensure they are Mode Settings all working including AUX1 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 Enter the PI Editor sub menu and check PI gain values 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 adjust both Roll and Pitch at t
13. t for you The 6 Pin USBasp AVR programming interface ensures future software updates will be quick and easy Go ahead and get started Version 2 Jan 2014 D Bird 2014 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 Speaker LED TITO Ct o IIMMMIMENOA Motors Outputs Control Inputs M1 Ail M2 Ele M3 Thr M4 Rud M5 AUX M6 M7 GND RST M8 MOSI SCK VCC MISO Back Up D
14. ter looks like this To Main Battery white Bo ris Main power feed to ESC s Use UBEC tp power Rx if Motor ESC are OPTO Types 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 D Bird 2014 Page 4 PI Editor Receiver Test Mode Settings 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 Receiver Test Mode Settings 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 D Bird 2014 STEP 5 Turn on the power and press the Menu button then using the Up and Down buttons highlight Receiver Test sub menu and press Enter Now move each channel on your transmitter and check that the displayed direction corresponds with the stick movements on the Flight Controller if any are reversed then go to your T
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