HW Version 2.1
SW Version 1.10S1 With Spektrum (R) Satellite Support
Steveis

Changes sice HK V1.6 for KK2.1

Warnings:

i)  Firmware will reset all settings
ii) Stick scaling and P&I gains need to be changed if you change the MPU6050 setting

Critical bug(s) corrected: 

i)	Corrected pin assignment for Output 5 and Output 6
ii)	Initialisation settings didn't get written to the MPU6050 so it was stuck on 250 deg/sec and 2g
iii)Default MPU6050 settings now 2000 deg/sec and 8g

Minor bug(s) corrected: 

i)	Updated KK1_6_MPU6050 to remove unused code for menu button press (thanks RC911)
ii) Updated KK1_6_MPU6050 to correct Meny code to disable OCR1A and B interrupt (thanks RC911)
iii)Changed/Corrected I2C routines so they actually work now
iV) Tidied up I2C routine for burst reading of sensor data
v)  More accurate battery voltage - adjusted to read the same as my KK2.0 (thanks HappySundays)
vi) Corrected low voltage alarm calculation

Addition(s): 

i)  Debug Menu (added back in but not checked for accuracy) plus some extra values displayed
ii) Version Menu
iii)Sensor Max Min Menu (records max and min gyro and acc values when armed and SL is off)
iv) MPU6050 Settings Menu (view and change gyro deg/sec, acc g and digital low pass filter)
v)  MPU6050 Temperature shown on SAFE screen
vi) Receiver Sliders Menu that shows you the msec value and sliders for the receiver inputs - for info, not calibrated
vii)Output Sliders Menu that shows you the msec value and sliders for the motor/servo outputs - for info, not calibrated 
v)  Acc Bubble Level Menu for accelerometers
vi) Gyro Bubble Level Menu for gyros (could be good for dynamic balancing)
vii)Added support for Spektrum (R) Satellite and clones (See note below)

Changes in operation:

i)  Defaults to AUX for Self Level On/Off
ii) All mixing resets to zero when you do a factory reset so you have to select a motor layout
iii)Changed default stick scaling and default P&I gains for default MPU6050 settings

Note
Supports Spektrum(R) satellite with Tarot cable
Tested with Spektrum AR7/8000 DSM2 satellite and Orange R100 Satellite
Only supports 10 bit with all data in 1 frame 
Only supports 7 channels
Uses Throttle input for Tarot cable
Hold buttons 2&3 on power up to enter binding mode
If you switch between CPPM, Sat or normal receivers, power cycle the KK2.1
Debug lists 16 frame bytes from satellite - you'll know if there are 2 frames of data (so bind again).
KK2.1 Settings: -
You will need to set "Sat or CPPM" to "Yes" in Mode Settings
You will need to assign the channels correctly in Sat-CPPM Channels as  A=2,E=3,T=1,R=4,Aux=5

Many thanks to David Thompson of OpenAero(2) fame

