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HefnyCopter firmware targets KK boards. HefnyCopter1 targets KK v2.1 & KK v3.0. HefnyCopter2 targets the new board KK2  

SONAR_640
QUAD_KK2_IMG_7802(1)
Vortex_1
UART_Mode
QUAD_CON32K-2
QUAD-CON16K-v2-3(1)
GroundClient
XBEE_Wiring
UART Wiring
 
HefnyCopter consists of a firmware and a ground station - for HefnyCopter2 -, it allows receiving serial data using XBEE which is a new capability for a simple non-expensive board like KK2.
 
 
HefnyCopter has the feature of flying in in X & Plus mode for quadcopters without the need to change the firmware or reorient the board.
 
Altitude Hold using Sonar...Thanks for my friend Samog for making this great video.
 
                                 
 
 
Video for stabilization algorithm starting from version 0.9.1

 

The video shows the ability to switch X-Quad tp Plus-Quad and vice versa.

 

 

The video shows ground station and its capability to save sensors readings with video and play them back togther.
 

 

The video shows a unique feature for HefnyCopter-II. You can use any two TX to control your quadcopter concurrently. You can use it to train someone on quadcopter. TX can be of two different brands and still can be used together. 

 

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