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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 Christian 28 minutes ago. 2721 Replies

ArduCopter-3.1 released!

Started this discussion. Last reply by Bill Isenberger yesterday. 1530 Replies


Welcome, Randy!

Latest Activity

Christian replied to Randy's discussion ArduCopter-3.2 beta testing
"For frSky X8R, plug in the RSSI cable to SB on Pixhawk directly. Set following parameters: "
28 minutes ago
Christian replied to Randy's discussion ArduCopter-3.2 beta testing
"Thx Marco, So I guess it just needs a few seconds to normalize pressure before one does a new take off."
45 minutes ago
turdsurfer replied to Randy's discussion ArduCopter-3.2 beta testing
"Does anybody know the current status of RSSI support on Pixhawk? I'm been searching and reading (even in Github), but haven't found any definitive answer(s) yet. Is this something that is already supported, or in the making in 3.2, or is…"
49 minutes ago
Esteban Jaramillo replied to Randy's discussion ArduCopter-3.2 beta testing
"Is it normal I lose some altitude in alt-hold or pos hold when going forward really fast?"
59 minutes ago
stubugs replied to Randy's discussion ArduCopter-3.2 beta testing
"sorry cannot upload log too big stuart"
2 hours ago
stubugs replied to Randy's discussion ArduCopter-3.2 beta testing
"hi please find attached log at 2.5 mins roughly my pixhawk quad in loiter veered to the left quite sharply then restabilized with 3.2.rc 12 two gpss plugged in main one 3dr 6h and neo 7 as second using neo7 compass as its at the front don't…"
2 hours ago
Alexey Kozin replied to Randy's discussion ArduCopter-3.2 beta testing
"i test arducopter 3.2 rc12 apm 2 different gps with nmea output (38400 baud VTG GGA 5Hz) in mission planner show "no gps" blue led off i test different gps settings 1 (auto), 5(nmea) - no difference when i use AC 3.15 firmware - all work…"
3 hours ago
Cala replied to Randy's discussion ArduCopter-3.2 beta testing
"Thank Povl, I change the original pink foam and put a bigger grey one, and put black electricity tape inside the case, and cover the pins air entrances but the problem persist in windy days"
4 hours ago
MikeG replied to Randy's discussion ArduCopter-3.2 beta testing
"Upgrade to the beta of Mission Planner and you'll find it. Had the same problem myself.  APM Planner 2 also supports it as a flight mode."
6 hours ago
Povl H. Pedersen replied to Randy's discussion ArduCopter-3.2 beta testing
"This is normal. Since it is being tossed around, props needs to speed up/down to keep it stable, and to keep its position if in a GPS mode. This also causes some instability in altitude. If you do not have foam over your barometer, you need to do…"
8 hours ago
Edgar Scott replied to Randy's discussion ArduCopter-3.2 beta testing
"Im not sure if this has anything to do with it, but the take off point was at a slight angle, about a 10 deg slope, with nose pointing in the upward direction, they are on a hill so its all I had. Thanks, Ed,"
8 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Edgar, Thanks for the report.  It's looks very bug-like.  In the logs we see the nav controller requesting a very large roll and pitch request as soon as it thinks it's taken off.  There is this similar report in the…"
9 hours ago
Hubertus Paetow replied to Randy's discussion ArduCopter-3.2 beta testing
"What kind of power module do you use? In your log there is no message about current, so the reserved mAh-setting probably won´t work. The voltage seems to be very low, so either the battery pack is weak or the calibration of the monitor is…"
9 hours ago
Doug Walmsley replied to Randy's discussion ArduCopter-3.2 beta testing
"I too have had issues with my MinimOSD module not interfacing with the Pixhawk.  My solution was to unplug and replug power to get the two to synch up.  Wish there was a feature in Pixhawk that checked for OSD interface and if it's…"
10 hours ago
Manu B replied to Randy's discussion ArduCopter-3.2 beta testing
"Regarding the wiki: you also need to change "falling at 5m/s". It's just testing if we are loosing altitude without threshold. This is ok like this and due to noise in baro alt, I think this condition can be fully removed. If we loose…"
10 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Murdanny, Can I ask what was the issue?  In this log it appears the vehicle was in AltHold most of the time. I see there were a number of EKF_CHECK warnings (warnings because the vehicle was in AltHold instead of a mode that required the…"
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

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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