• Male
  • Tokyo
  • Japan

Randy's Friends

  • Mubbasher Mukhtar
  • Kevin
  • Moataz Dahabra
  • Alex Black
  • Ban
  • Mike Yan
  • Abdou Aziz
  • Bhaskar Dutta
  • tmm
  • ParkYoungju
  • Shamir Pinedo
  • Tianyuan Xiang
  • Lawrence Dennis
  • Sriram Chadalavada
  • CropHawk

Randy's Groups

Randy's Discussions

PixRacer with Ardupilot

Started this discussion. Last reply by Marcell Kovacs on Tuesday. 1153 Replies

Ardupilot on QC Snapdragon

Started this discussion. Last reply by David Ahlgren Aug 15. 7 Replies

Pixhawk 1MB flash limit

Started this discussion. Last reply by Mark Brummett May 11. 85 Replies


Welcome, Randy!

Latest Activity

Randy replied to Marco C's discussion What's the difference between ( Absolute , Relative , Terrain ) Alt in MP ? in the group ArduCopter User Group
"Marco, You shouldn't need to do autotune or any re-tuning if you upload Copter-3.4-rc2 on top of your existing Copter-3.3 firmware.  You'll see the gains (and a few other things) will change but it's done automatically as part of…"

Randy replied to Marco C's discussion What's the difference between ( Absolute , Relative , Terrain ) Alt in MP ? in the group ArduCopter User Group
"Marco, So terrain following is a new feature in Copter-3.4 (now in beta testing).  Instructions are now on the wiki here. You can definitely do what you're asking in Auto mode (and Guided if the GCSs support sending the position with the…"
Marcell Kovacs replied to Randy's discussion PixRacer with Ardupilot
"Hi, Just finished soldering my new ACSP5 :) Its small size is impressive. I still need to fine tune the calibration values, these are the current: Voltage divider (BATT_VOLT_MULT): 13,68352 Amps per volt (BATT_AMP_PERVOLT): 31 - for this…"
Shaun Bell replied to Randy's discussion AC-3.1 autotune support discussion
"No esc braking on any of my units.  So my 18" 960 X8 and HEX may tune better by lowering the filter rate more likely or less because of the lack of braking?  Well, I should get the big rig out and auto tune it before the heat hits.…"

Randy replied to J'Rome's discussion Issue Command Fly(bearing, time, speed) ? in the group ArduCopter User Group
"J'Rome, If you can somehow issue mavlink commands you can put the vehicle in Guided mode and then send either SET_POSITION_TARGET_LOCAL_NED or SET_POSITION_TARGET_GLOBAL_INT.  This is how dronekit is doing it.  Note that those…"

leonardthall replied to Randy's discussion AC-3.1 autotune support discussion
"I would say anything bigger than 15" props would be getting there but it also depends on whether or not you have ESC braking available. Let us know how you go!! Randy did a great job extending the autotune page in the Wiki!!"
Shaun Bell replied to Randy's discussion AC-3.1 autotune support discussion
"Have a question about filter settings.  In the wiki, it states to use a 10hz filter instead of 20 on large copters.  What would you consider large.  Obviously a 680mm is not, but would a 960mm X8 swinging 18" props fall into that…"
Ola Sbihat replied to Randy's discussion Optical Flow discussion thread
"Hi, Thank you AI B , you means that px4flow don't work with the mission planner? I have px4flow v1.3.1. how can I physically connect them here we connect the I2C (12V) , in my Px4flow there is no 12 v but 5 v, then how can I connect them "
Aug 18
Al B replied to Randy's discussion Optical Flow discussion thread
"I struggled for days trying to setup the OpticalFlow with APM Flight Stack. Never worked. If you are using Pixhawk, then I suggest you switched the PX4 Flight Stack since it works flawless. See test video here:…"
Aug 17

Randy commented on Chris Anderson's blog post Intel announces new Aero drone development board based on Dronecode PX4 software
"A very promising flight controller.  I've been looking forward to it for some time.  I'd be a little surprised if it can't also run ArduPilot.  In any case, I'm sure it will eventually one way or the other."
Aug 17

Bill Bonney commented on Randy's blog post Copter-3.4's polygon fence
"The discourse server is the new forums if it was unclear. Discourse is modern discussion forum software that works,"
Aug 17
Jiro Hattori commented on Randy's group Japan ArduCopter Group
" Pixhawk2 Suite $238で、受注開始? 日本のDistributerは、何処か手を上げてくれたのでしょうか?"
Aug 16

Thorsten commented on Randy's blog post Copter-3.4's polygon fence
"Randy,  this is a great feature! Any additional security is important. What would be perfect would be if the polygon fence is automatically set around a survey mission area (for sure with some small buffer). This could be a simple convex hull.…"
Aug 16
Ola Sbihat replied to Randy's discussion Optical Flow discussion thread
"Hi, can any body help me to connect the px4f"
Aug 16
Luis Vale Gonçalves replied to Randy's discussion PixRacer with Ardupilot
"Please update your Taranis firmware to the latest version (2.1.8) After that is easy and many YouTube videos explaining. "
Aug 16

Randy posted a blog post

Copter-3.4's polygon fence

One of the more important features that will arrive with Copter-3.4 (still in beta testing) is the Polygon Fence (the full list of features can be seen in the ReleaseNotes.txt).Plane has had the polygon fence for years but when we added it to Copter, we also added the ability to stop at the fence in Loiter…See More
Aug 16

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

Copter-3.4's polygon fence

Posted on August 16, 2016 at 6:12am 2 Comments

One of the more important features that will arrive with Copter-3.4 (still in beta testing) is the Polygon Fence (the full list of features can be seen in the …


AntennaTracker v1.0 on NAVIO2 with Bebop2

Posted on July 28, 2016 at 2:07am 27 Comments

ArduPilot's Antenna Tracker firmware has been making some quiet progress over the past few months.  They're all documented in the …


Copter-3.4 beta testing starts

Posted on May 30, 2016 at 10:30pm 22 Comments

Copter-3.4-rc1 has been released for beta testing and can be downloaded using the Mission Planner's Install Firmware screen's beta firmware link.  Some of the changes since Copter-3.3.3 are listed below.

1) EKF2 allows "boat mode" (attitude initialisation without gyro calibration)

2) …


Terrain Following Missions using Lidar

Posted on May 13, 2016 at 11:30pm 24 Comments

The upcoming Copter-3.4 release will include terrain following support for mission commands using either Google earth altitude data or a Laser Range Finder.  This is a demonstration video shot at a ski hill near my home in Karuizawa Japan of this new feature.

For this test I used a venerable 3DR IRIS with a …


Copter-3.3 released!

Posted on October 8, 2015 at 9:58pm 84 Comments

After months of testing by the beta-testing team and no significant issue during the soft release, Copter-3.3 has been released.  You can load this version onto your vehicle using the…


Comment Wall (32 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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