I found this posted on the HK files tab for this board while looking for new firmware. It's not my review.
KK2.1 Test Results on FY 450 Quad.
On opening the box we see a very smart looking board with obvious differences from the KK2. The addition of the voltage plug as well as the buzzer plug is fantastic as this means no soldering is needed for voltage read out on the screen. As per original KK2, the screen does not appear to be stuck down properly but it is good to see a protective film over it.
Installation is the same as the old KK2 with the plug orientation unchanged. The biggest difference is the lack of any visible forward direction arrows as was featured on the old board. As much as the forward direction may appear obvious to us with the buttons at the bottom, we cannot assume all customers would think this. Perhaps having this mark on future models would be a useful addition. Also there is no indication as to the positive and negative polarity of the buzzer connection as was on the previous version.
When powering up the board for the first time, I’m pleased to see the layout of the menu has not changed. It is still as easy to navigate as the old KK2. Mounting the board is as easy as ever and I have found simply mounting with gyro tape to be the best option as this insulates the exposed terminals on the back of the board and also protects the control board from any vibration. It holds it securely but If you want to remove it later, the tape easily peels off with no residue.
After calibrating the board and setting the various options for my configuration (X Quad), I found that the P and I gain defaults are dramatically too high resulting in a violent wobble. I reduced the values by half in the first instance and adjusted them further in subsequent test hovers. The values I achieved for basic, stable flight in both hover and forward flight were:
P Gain: 23,
P Limit: 53,
I Gain: 39 and
I Limit: 25. (These may be subject to slight adjustment)
This enabled me to fly the quad around quite easily and with little wobble. I then moved on to setting the Self Level function. This initially was set to be activated via an AUX channel on the transmitter but the board would not recognize this command. I had to
go back to the default setting using the right aileron command when arming the board. Although that is fine for the test, I would be looking to have this reliably switching via the AUX channel whilst in flight. The self-level settings were again set too high for normal operation and caused the quad to wobble. In this instance I turned the P gain and P Limit down to 5 and increased in increments of 5 individually until a balance was found between the control available and wobble, resulting in a very stable indoor flight. The values I achieved for basic, stable flight in both travel and hover are:
P Gain:90,
P Limit20. (subject to possible change later.)
Although level was set using a spirit level, the quad did not hold its position and some ACC trim had to be used. In this instance only 9 points of back pitch were needed to hold position. This could be a difference in temperature since setting level.
Note: Having too higher gain on the self-level will cause the quad to wobble at higher throttle settings whilst balancing as per the images. I have had to reduce the gain further to make a solid, balanced hover. The final settings for self-level are:
P Gain: 50
P limit: 30
To suit my flying style I have had to adjust the stick scaling. This is of course is a personal adjustment and has no reflection on the operation of the control board but, for me it is too soft. In comparison to the old KK2, initial flights show a promising performance, stable flight and reliability. I’m very impressed with the speed of set up allowing very stable flight within ten minutes. Over the course of a few more flights I have increased the sensitivity for aerobatic performance but have dialled in some exponential on the transmitter to make for a more accurate hover. With increased stick scaling I am able to achieve aerobatic flight very easily. In normal mode, the quad is very sensitive and easy to get out of control. Within just a couple of adjustments, I am able to flip the quad within its own length. This was less achievable on the previous board but the recovery from the flip is considerably more composed than the previous version. I have added an additional 10% Exponential in the transmitter to dial down some of the twitching in hover from manual control. When in self-level mode, the movement is restricted but you can still get a roll and a loop out of it. The gain was reduced further in self-level mode for fast-forward flight.
Summary.
Overall I am delighted with the KK2.1. The claimed improvements are justified and have a massive effect to the flight characteristics. Within an afternoon the quad was flying how I wanted it to and the whole flight is now more predictable than ever. The faster sensors and processors show in the recovery from maneuvers in manual mode where the old version would struggle. Self-level mode is better than ever and you can really rely on the board to keep itself out of the ground. The KK2.1 is a great FC and with the additional functions and potential for new software makes for an exciting and reliable piece of kit. My only grumble is that for some reason my board will not switch from manual to SL mode using an AUX channel. This will need further investigation.