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Randy's Groups

Randy's Discussions

Copter reliability vs functionality

Started this discussion. Last reply by Marco Robustini Jun 19. 204 Replies

Copter-3.3 beta testing

Started this discussion. Last reply by Mark Mills 37 minutes ago. 2622 Replies

ArduCopter-3.2.1 Beta Testing

Started this discussion. Last reply by Johann Bruwer Jul 22. 585 Replies


Welcome, Randy!

Latest Activity

Mark Mills replied to Randy's discussion Copter-3.3 beta testing
"Thanks for the replies gentlemen, The problem was fixed by Brad's suggestion. Working on 3.2.1 but not on the latest really confused me. I really appreciate your help. cheers Mark "
37 minutes ago
Wilson Thong replied to Randy's discussion Copter-3.3 beta testing
"Hello Thorsten, Here are pictures of my copter. 3DR pixhawk sits inside the TBS "fuselage" Looking from the side pixhawk can be seen. MinimOSD is on the "ceiling", right above the pixhawk. Wires run in-between, touching both…"
1 hour ago
Erik Groeneveld replied to Randy's discussion Copter-3.3 beta testing
"Thanks Andy, Indeed the value should be lower then the original 230..., so reduced to 140, which doesn't prevent arming, and is allowing me to take off in Loiter. Did see the fast flashing green indicator as well, so is fine during flight.."
2 hours ago
Erik Groeneveld replied to Randy's discussion Copter-3.3 beta testing
"Thanks Henri, I do see the same figures with my Neo-8M, so reduced the HDOP value to 140 on both birds!"
2 hours ago
Paul Atkin replied to Randy's discussion Copter-3.3 beta testing
"Randy, I hope you will see this, I have seen this condition for several times now. With 2 GPS units, not sure if it is specific for this configuration only, this new algorithm for HDOP value computation sometimes for no obvious reason glitches and…"
3 hours ago
Wilson Thong replied to Randy's discussion Copter-3.3 beta testing
"COOL~~ Many thanks!!"
5 hours ago
Pritam Ghanghas replied to Randy's discussion Copter-3.3 beta testing
"I realized a very bad autotune with both rc7 and rc8.  The frame is deadcat style/V-style. So I started with iris+ parameters as preset. And it was flying ok. Seemed a little agressive.  Tried autotune. Roll tune happened within 2-3…"
5 hours ago
Brad replied to Randy's discussion Copter-3.3 beta testing
"Mark, I'm going to assume here that you are using telem1 for your radio. If you connect your telemetry via less than 6 wires, IE, your radio doesn't have or doesn't connect RTS/CTS and if you have BRD_SER1_RTSCTS configured for…"
6 hours ago
3citydrones replied to Randy's discussion Copter-3.3 beta testing
"Please taka a look at my log's. It's RC7, and since 3.2.1 I have frequent EKF errors.... Is that because of the magnetometers differences (with Gyro/GPS)…"
6 hours ago
dudz left a comment for Randy
"Hi Randy, Please can you tell me if the flight modes issue with the Unknown status and blank mode menu has been rectified ?  "
7 hours ago

Randy replied to Randy's discussion Copter-3.3 beta testing
"Wilson, Done, thanks. "
7 hours ago
Wilson Thong replied to Randy's discussion Copter-3.3 beta testing
"Thanks Randy and Thorsten for the info~ Yes the peak was at about 8000-9000rpm from ctrl-F FFT plot but that is due to my 2-blades props I believe. So the motor PRM should be spinning at 4000~4500rpm. At 70~80Hz (4200~4800rpm) the ctrl-F FFT…"
8 hours ago
Wilson Thong replied to Randy's discussion Copter-3.3 beta testing
"OOOOoooo~~~~~ right!! that's my fault and no reason to change code to fit my careless. I am new to arduCopter so when piloting some basic rules are not yet "intrinsic" ;)  Much better IMO would be updating the dataflash log wiki…"
9 hours ago
Igor replied to Randy's discussion Copter-3.3 beta testing
"Probably not helpful, but my radio telemetry works fine on rc8. It's working on telem1 as well as telem2. Do you have something else connected in parallel with the telemetry radio with an Y cable?"
9 hours ago
Fnoop Dogg replied to Randy's discussion Copter-3.3 beta testing
"You haven't said what your PIDs were after autotune, but I had a bad autotune - PID and stabilize values were very low in pitch axis which caused oscillation.  I did two further autotunes with higher aggressiveness values (0.7 and 0.8) and…"
10 hours ago

Randy replied to Randy's discussion Copter-3.3 beta testing
"FYI - the VIBE message data is based off the raw IMU readings but doesn't require the actually logging of the raw IMU values (as you've noticed)."
10 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

NAVIO+ Linux board with APM:Copter 3.3

Posted on June 3, 2015 at 12:00am 23 Comments

Click here to skip the commentary and just see the vehicle flying.

The video above shows my first attempt (which was successful) to fly APM:Copter using a Linux board (…


Multi-Vehicle testing with APM:Copter, Tracker and Mission Planner

Posted on May 3, 2015 at 8:21pm 24 Comments

For some tasks (like Search and Rescue and mapping) what you can do with one vehicle, you can probably do faster with multiple vehicles.  To test how well it works in practice I tested…


ArduCopter 3.2.1 released

Posted on February 11, 2015 at 1:00am 83 Comments

Warning: there was a period of about 12 hours after this blog was first posted where an older version (AC3.1.2) replaced AC3.2.1 for APM2.  If you think you may have downloaded for the APM2 during these initial period, please check the version on your board by looking at the title bar of the Mission Planner (see…


Steps towards S&R in Japan

Posted on December 22, 2014 at 6:30pm 8 Comments

We seem to have a lot of natural disasters here in Japan (eruptions, mud slides, earthquakes) and like everywhere else we are counting on UAVs to…


ArduCopter 3.2 Released

Posted on November 24, 2014 at 8:56pm 242 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…


Comment Wall (28 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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