The best replacement for kk2 is naza.

The best alternatives to kk2 are rated as following:
★★★★★  naza
★★★★★  apm
★★★★  multiwii
★★★★  cc3d
★★★  naza lite
★★★  kk2.1
★★  ardupilot
★★  multiwii pro
★  crius

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kk2
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