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Randy's Groups

Randy's Discussions

figuring out the Antenna Tracker

Started this discussion. Last reply by iskess Oct 11. 39 Replies

ArduCopter-3.2 beta testing

Started this discussion. Last reply by Artem 3 hours ago. 2792 Replies

ArduCopter-3.1 released!

Started this discussion. Last reply by Bill Isenberger on Sunday. 1530 Replies


Welcome, Randy!

Latest Activity

Artem replied to Randy's discussion ArduCopter-3.2 beta testing
"This is exactly what I am talking about but believe was not totally clear, not just the APIs for i2c, but mavlink messages framework so MP would be able to receive it and display, same for ESCs (CAN preferably) so hardware people would know what to…"
3 hours ago
Manu B replied to Randy's discussion ArduCopter-3.2 beta testing
"Actually, i2c is already implemented in Apm. Look at compass library or topic about "incorporating external sensors". If i'm right, Mavlink also includes messages for 2 batteries and independant cell voltages. I was about to make…"
3 hours ago
Ray Gamero replied to Randy's discussion ArduCopter-3.2 beta testing
"Yes it's totally auto. I do raise the throttle too more than mid stick to enable a quick switch to stab during the mission (if something requires me to take over) and I lost it to minimum when it's committed to land to enable auto…"
3 hours ago
Artem replied to Randy's discussion ArduCopter-3.2 beta testing
"Randy, this is maybe a bit out of topic, but I am not sure what will a be the best place to put this:  Is it possible to add I2C API for current/voltage sensor in AC3.3?  This would open up a way to use more advanced voltage meters which…"
4 hours ago
Alexey Kozin replied to Randy's discussion ArduCopter-3.2 beta testing
"Randy, thank you very much for your help!!! of course i compile hex for myself and my friends all modules ublox, sirf & mediatek  is support nmea protocol maybe select it by default for compatibility for next relises ?"
5 hours ago
Vishakh Nair replied to Randy's discussion ArduCopter-3.2 beta testing
"Randy, Yes, I have tried to set Rx up, but Im probably making some silly mistake which didnt let me succeed. I didnt intend to test failsafe anyhow so was never bothered about it. I also have my doubts on RX too because I had a crash sometime ago on…"
5 hours ago
Brad replied to Randy's discussion AC-3.1 autotune support discussion
"Randy, I did make similar changes I described above which makes autotune work from ch 5 and it worked well for me.  Should I submit a pull request?  Which branch should it be against? --Brad"
6 hours ago
Manu B replied to Randy's discussion ArduCopter-3.2 beta testing
"I had no log files before the flight, but with IMU logging and about 40min flight time, it was overwritting in the same file. FYI .bin file is about 4Mo, .log at 11Mo."
8 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Daniela, Yes, that's what it does on the APM2 boards.  If the log is long enough though it will eventually even start to overwrite the beginning of the current log that's being written."
8 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Sandy, Thanks for the report and I know what this is.  There's a little timing bug in -rc12 (and all earlier release candidates) but we have a fix and it will go out with -rc13 which will be out before the weekend I think. The issue…"
8 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Vishakh, I'm sure there is a way to set-up your FrSky receiver to either stop sending signals or pull the throttle channel low.  I'm afraid you'll have to figure out how to do that without my help though. The "late…"
8 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Alexey, Yes, you're right.  Due to flash space constraints we dropped NMEA and SIRF GPS Support in AC3.2.  It's a possible to enable them if you're compiling the code yourself.  It should work by simply commenting out…"
9 hours ago
Daniela Alexandra replied to Randy's discussion ArduCopter-3.2 beta testing
"What about automatically overwriting the oldest log (like a FIFO) ?"
9 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Manu, Yes, there is a limit.  According to the 3DR store the APM2.x is 4Megabytes (I actually thought it was larger).  The Pixhawk writes it's logs to the SD card so it depends how large the card is but I think the Pixhawk comes…"
9 hours ago
Edward (Sandy) Abernethy replied to Randy's discussion ArduCopter-3.2 beta testing
"Troublesome flip overs on takeoff... On 2 separate occasions, flip-overs happened with modes auto and guided in place prior to arming.. It happened when throttling up with RC and with DP2 takeoff.. These both episodes occurred after several success…"
9 hours ago
Martin replied to Randy's discussion ArduCopter-3.2 beta testing
"I've had issues too. Had to revert minimOSD to early firmware to get it to work on Pixhawk. Suspect late miniOSD firmware bug."
9 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

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…


UAVs for measuring radiation levels in Japan

Posted on April 11, 2013 at 6:38pm 11 Comments

Two years after the March 11th tsunami in Japan that triggered the Nuclear disaster at the Fukushima power plant, there are still just over 300 thousand people who have not been able to return to their homes due to…


Dropping a Rover from Hexacopter - Part II

Posted on March 15, 2013 at 12:32am 14 Comments

As a follow up to an indoor test we did a about a month ago (blog post here), Assistant Professor Nagatani-san of Tohoku University, Izu-san of…


Comment Wall (24 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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