That Poor Decisions verse was something serious. He has been dropping heat since early 2013 outside of a few weak tracks. He's not the golden child of alternative hip hop that he was when he first burst on the scene, and it seems as if he can't say anything these days without receiving a bunch of backlash for something that isn't even that serious.
At this point, he really can't win back the average hip hop fan back because of what's been going on with him the past few years, but everybody reaches that point in their careers where only the stans/loyal fans are going to give a shit about their music and Kendrick will eventually get to that point.
I personally enjoy Lupe's abstract lyricism and his socio-political commentary so I'll keep checking for his music. The only thing I didn't like about F&L2 was the production really. The tone didn't affect me that much, and despite the shit he says in interviews (aliens...for real bro) he doesn't really talk about conspiracies the way Canibus or Immortal Technique do in his music.