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Randy's Groups

Randy's Discussions

figuring out the Antenna Tracker

Started this discussion. Last reply by Javier Diaz 15 hours ago. 52 Replies

ArduCopter-3.2 beta testing

Started this discussion. Last reply by Todd Hill 6 hours ago. 3453 Replies

ArduCopter-3.1 released!

Started this discussion. Last reply by Bill Isenberger Oct 19. 1530 Replies


Welcome, Randy!

Latest Activity

Randy replied to Marc Rechté's discussion Board mounted sideways
"@Marc, We don't talk about this on the copter wiki but it's briefly mentioned on the antenna tracker wiki (because it's very common to mount an APM or Pixhawk in a non-standard orientation on an antenna tracker). Setting the…"
1 hour ago
Todd Hill replied to Randy's discussion ArduCopter-3.2 beta testing
"I would appreciate a second opinion from another experienced forum member.  Running 3.2RC14 on a large quad controlled by an X2.   "
6 hours ago
luis gonzalez replied to Randy's discussion ArduCopter-3.2 beta testing
" I Just adjusted it and back to normal, i tried to auto tune and did not work, has it been removed from code? whats the best way to do the tune? My quad keeps drifting towards me, i realized the trims on my transmitter weren't centered and…"
8 hours ago
Erwin Quilloy commented on Randy's blog post ArduCopter 3.2 Released
"@randy thanks for clarifying that matter :)"
9 hours ago

Randy commented on Randy's blog post ArduCopter 3.2 Released
"@Erwin, As far as I know, the UBlox GPSs all support two protocols, the Ublox binary protocol and NMEA.  The Ublox protocol gives us more control of the settings so this is what AC uses if it can.  I think your GPS will work fine."
9 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"2500% seems pretty odd.  I'm sure we can't have more than 100% so it seems like some kind of reporting error. The CPU utilisation of AC3.2 is a bit higher than AC3.1.5 as we've added new features but even with AC3.1.5 it was…"
9 hours ago

Randy replied to Kamil Ponir's discussion problem with stabilize mode performance
"@Kamil, Rob Lefebvre will be better at answering this but I think it's likely bad tuning.  I imagine that it's a problem with the Rate Roll or Rate Pitch P and/or I terms.  I know that the I terms for trad helis tend to be much…"
10 hours ago
Erwin Quilloy commented on Randy's blog post ArduCopter 3.2 Released
"Hi Randy! what does this thing do? I have an APM 2.6 board, and Ublox Neo6m GPS compass module.  Dropped support for NMEA and SIRF GPS on APM boards (ran out of Flash space) I have an APM 2.6 board, and Ublox Neo6m GPS compass module. Does…"
10 hours ago
Damian Longstaff replied to Randy's discussion ArduCopter-3.2 beta testing
"Hi Richard when I connect the fc hkpilot32 and gps not acquired satellites is 20% when sat fix rises to 60% and peaks begin 2500% Thank Damian"
12 hours ago
Cala commented on Randy's blog post ArduCopter 3.2 ready for wider use
"Thank's Philip for the info I'm going to read it"
14 hours ago
Philip Lorentz commented on Randy's blog post ArduCopter 3.2 ready for wider use
"The batt FS info is here:- Even if you have multiple batteries in parallel you only need one Power module as you can only set one voltage failsafe."
14 hours ago
Javier Diaz replied to Randy's discussion figuring out the Antenna Tracker
"does using continuous servos require any aditional configuration/parameter ? "
15 hours ago
Richard (DK) replied to Randy's discussion ArduCopter-3.2 beta testing
"@Damain got this answer from Randy 5-6 weeks ago The high peak in load starts when code get a gps fix or amount sat (or both) i have no spare time to investigate it, to busy at work."
17 hours ago
Kristoffer de Jesus commented on Randy's blog post ArduCopter 3.2 Released
"Hello Josh Welsh, Thank you for your response. Don't get me wrong. I did not mean to offend any of the developers here nor undermine their contributions. I'm one of the most avid supporters of arducopter here in the Philippines. All our…"
17 hours ago
Terry replied to Randy's discussion ArduCopter-3.2 beta testing
"Didn't see this reply before I posted. I'm glad you contacted 3DR and I'll be interested to hear what they say."
18 hours ago
Terry replied to Randy's discussion ArduCopter-3.2 beta testing
"Glad to hear you had good results. There really is nothing electronic that should be harmed by the demagnetizer. The only remote possibility would be a small induced voltage on some wires but nothing to harm the guts.  There are now several…"
19 hours ago

Profile Information

About Me:
Lead developer of ArduCopter. I coordinate releases, provide support for users having trouble with their copters, add new features (most often based on ideas and suggestions from the community). I also help others get their code integrated into ArduCopter.

You can find numerous video tutorials from me here:
Please tell us a bit about your UAV interest
Interested in quads and helis mostly. I got my start in this field by reading the electronics tutorials from Sparkfun and from watching the success of Jack Crossfire's vicacopter. I've learned an enormous amount from the combined wisdom of the people on the DIYDrones forums and members of the core dev team including Jason Short, Tridge, Doug Weibel, Leonard and many more.
Karuizawa, Japan

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Randy's Blog

ArduCopter 3.2 Released

Posted on November 24, 2014 at 8:56pm 35 Comments

ArduCopter 3.2 (aka APM:Copter) has been released as the default version replacing AC3.1.5. This is the exact same version that we invited all users to test two weeks ago.  Users who wish continue using AC3.1.5 can find it under the "Pick…


ArduCopter 3.2 ready for wider use

Posted on November 7, 2014 at 2:18am 191 Comments

After months of testing, ArduCopter 3.2 (aka APM:Copter) is ready for widespread use and we invite all users to give it a try.  In order to manage the support load at first it will be available only through the Mission Planner and APM Planner2's Beta Firmwares link.  This link is visible from the regular "Install Firmware" page if you check…


Red Balloon Finder

Posted on June 17, 2014 at 5:04am 30 Comments

As many probably know, this year's Sparkfun Autonomous Vehicle Competition (AVC) is similar to last year's except that a new challenge has…


GPS Glitch detection in AC3.1

Posted on December 14, 2013 at 6:42am 32 Comments

AC3.1 is going out very soon and includes a new safety feature called GPS glitch detection.  There's a wiki page about it but I'd like to highlight how it works because it's near the top of the list of safety issues.  The method…


Dropping a Rover from Hexacopter - Part III

Posted on August 22, 2013 at 7:40pm 32 Comments

As a follow-up to the rover drops #1 and #2 I spent a day with Assistant Professor Nagatani-san of…


Comment Wall (25 comments)

At 8:44am on January 5, 2011, Jack said…


I have been working on my own Quad with the NG code and have setup the Sonar and have it working very well . I have an indoor version with sonar and IR sensors and would like to know were the IR sensors are conected, what pins. I see you were working on implementing this so If you could help with basic setup I can try my hand at testing. Thanks for your work on the Sonar and good luck on the obstical avoidence.


At 5:47am on January 30, 2011, Kári Davíðsson said…

Thanks Randy. 

I do not have write access to the svn repository.

So I will send you the changed AP_ADC lib probably later today.

I am not sure if a circular buffer is needed. The beauty of a 1st order IIR filter is that we only need one "old" sample and if a second order is needed only two old samples. But I will look a little better into the filter selection before committing anything to you.

At 5:45am on August 24, 2011, Jiro Hattori said…

Hi Randy

 One of the way to introduce technology of arduino as IMU is that something like what you have done. Most of the Japanese model flyer love to fly traditional helicopter. 

 Another approach may be exhibit something very unique at MAKE fair at Tokyo Institute of Technology.  There will be many open source hardware and software freaks as well.

At 9:10pm on March 7, 2012, Ravi said…

hi randy, i had been following your forum for align450. i just got my APM2 purple. i loaded the ardu heli firmware. everythings looks to be ok on mission planner. but there is no PWM on servo out pins. i armed the APM2 and does gets armed. the radio callibration bars move proportionately. evrything seems to be OK. but in 'status' there is no PWM on channel out pins. it shows '0' PWM on all out channels. can uou please suggets what might be the reason. the APM2 works fine with arduplane and arduquad firmware. ravi

At 5:53am on March 16, 2012,


I had a different problem with my APM2 that I was able to solve by following the procedure found in the wiki with a search for APM board problems.  My board would not connect to the planner and it works now.

Good luck


At 2:18pm on May 15, 2012, wilson javier madrid sossa said…

hello hello hug.
I can help with anything, I did several plannings flight with tri and firmware 2.0.49 and flew very well.
I did a quad and install 2.5.4 program a waypoint flight and the team took off like crazy.WP PIDs are by default and does not really move as you do. can you give me some information.

I appreciate your help

At 4:41pm on May 16, 2012, wilson javier madrid sossa said…

Please can you help me. I was flying my quadcopter and hold position when you turn the team went to ground. these are the last two log. I appreciateprompt help.


At 3:54pm on September 29, 2012, Marooned said…

Hi Randy

After your changes to Optical Flow I'm having troubles with compiling the sources:

ArduCopter.cpp: In function 'void init_ardupilot()':
ArduCopter.pde:-1: error: 'SPI3' was not declared in this scope
ArduCopter.pde:-1: error: 'SPI3_SPEED_2MHZ' was not declared in this scope

I have spi3.h file include in ArduCopter.pde but somehow it's not working that way. I did fetch&rebase with original repo.

At 3:12pm on September 30, 2012, Marooned said…

Sorry for troubles. It's working now. Looks like Arduino IDE had some hiccup.

I should probably move to some better IDE as I'm using Arduino only for compiling/uploading and all files are edited in my fav editor and I have to restart Arduino every time I change something as it doesn't follow outside files changes.

Anyway, sorry for bothering you.

At 6:30pm on December 1, 2012,
William Premerlani

Hi Randy,

Regarding a question that Shyam asked about gimbal lock when he was trying to use APM to stabilize a camera, he and I finally solved the issue. Here is a link.

No one on diydrones was able to help Shyam, he finally contacted me directly.

Best regards,

Bill Premerlani

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