Opinions differ, but I'd suggest a slightly higher setting if it's available, in the 6.4 to 6.8V volt range for a 2S (3.2-3.4V/cell). Lipos drop off in voltage fairly quickly at the end of a run, a slight change will generally cause very little reduction of run time, and it is easier on the cells. Also provides some allowance for cells being out of balance, one being lower.

Even then, stop as soon as the power drops off. I rarely hit LVC and along with reasonably diligent storage practices my packs hold up great for a long time. Much better than they used to.