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Randy's Groups

Randy's Discussions

Ardupilot on QC Snapdragon

Started this discussion. Last reply by Marc Dornan Jan 27. 2 Replies

Pixhawk 1MB flash limit

Started this discussion. Last reply by Randy Jan 5. 70 Replies

Optical Flow discussion thread

Started this discussion. Last reply by Kyomo Jung 28 minutes ago. 87 Replies


Welcome, Randy!

Latest Activity

Kyomo Jung replied to Randy's discussion Optical Flow discussion thread
"Thanks to Goro, Pual, Randy. I got Optical Flow works well. Here is the video clip fling with OF "
28 minutes ago
Kyomo Jung commented on Randy's blog post Multi-Vehicle testing with APM:Copter, Tracker and Mission Planner
"I've set multi-vehicle for ground test as below But I found issue on traffic - data rate. The wiki says in order to reduce data rate, to do like below image But I experienced bigger latency of artificial horizon refresh than I…"
4 hours ago
Jiro Hattori commented on Randy's group Japan ArduCopter Group
"EMLID が、NAVIO2のイメージとDocumentsを発表しました。 写真は、APM:Copter V3.4-dev (056dc9f3) 稼働中です。 "
8 hours ago
Hubertus Paetow replied to Randy's discussion Copter-3.3 beta testing
"Hello, i have a small tri running 3.3.2.on a pixfalcon. Flying in stabilize or pos hold there is always a small drift in yaw. Even when i keep the stick centered, it slowly turns. Looking at the logs i fount that the DesYaw also drifts and the tri…"
14 hours ago
Greg Covey replied to Randy's discussion figuring out the Antenna Tracker
"The video I posted was from my AT setup last summer. I haven't actually used my latest setup in the field which has a different Pixhawk installed. My initial test of it last week in the backyard seemed to have the yaw pointing properly so it…"
17 hours ago

Randy replied to Jake Kutrufis's discussion Onboard Image Processing (Find red disk in green field) in the group ArduCopter User Group
"Yes, I agree with Cala that the red-balloon-finder is perhaps the best place to start.  You'll see on the end of that discussion that Cala has linked, that Patrick Poirier has also been putting some effort into recreating what I did. In…"
Reuben replied to Randy's discussion Copter-3.3 beta testing
"Hi Randy ...just to say thanks for your reply .. I have fitted a faster card i will see how that goes .. .. I have a concern with compass bar going into the red when the copter turns in Auto mode .. I have tried this with just a bare spare pixhawk…"
Reuben replied to Randy's discussion Copter-3.3 beta testing
"Hi Thorsten, I have not had an opportunity yet to see if the class 10 card I fitted has fixed the issue.. I will find out though one way or the other ..I am not sure I like the "None Small Medium and Detailed" logging options, I prefer to…"
Doug Walmsley replied to Randy's discussion figuring out the Antenna Tracker
"So what is considered a safe distance then?"
Anthony Verloop replied to Randy's discussion figuring out the Antenna Tracker
"Hi Greg, Totally agree with you. Just thinking and trying to help. I also hope this AT solution gets matured as soon as possible. It's really the best out there. Features like auto tuning and better integration in mission planner for…"
Derek replied to Randy's discussion Copter-3.3 beta testing
"Hi, I get the bad accel health quite a bit in the colder weather. I've read Dmitry's thread and I'm not sure its the same problem as the sensors discharge issue. I see good data from the imu2 accelerometers when indoors, then I take…"
Jakub Oller replied to Randy's discussion figuring out the Antenna Tracker
"I wanted to edit my comment but 15 minutes passed, so here is the rest of my comment: ----------------------------- In another words: AT doesn't operate on raw servo values (in microseconds), it uses abstract values ranging from -9000 to +9000…"
Jakub Oller replied to Randy's discussion figuring out the Antenna Tracker
"It looks like YAW_TRIM or incorrect PID settings. AT calculates heading properly (orange line) but tracks with an offset. YAW_TRIM adds an offset to the calculated yaw value, thus orange line will point at the aircraft and red line will show actual…"
Cala replied to Randy's discussion Copter-3.3 beta testing
"Thank's Stephan"

Randy commented on Thomas Stone's blog post Recharge your drone at my place
"very nice. The charging pad looks good too.  Not something I'd buy for my own backyard but good for the businesses who will land hundreds of copters on it over it's lifetime."
Richard Kennedy replied to Randy's discussion Copter-3.3 beta testing
"Randy / devs Is 3.4 gonna be released for testing anytime soon or is that sort of in flux? "

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-3.3 released!

Posted on October 8, 2015 at 9:58pm 80 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…


Copter-3.3 ready for wider use

Posted on September 28, 2015 at 7:18pm 82 Comments

After months of testing by the beta-testing team, Copter-3.3 is ready for wider use.  Similar to the Copter-3.2 release this is a "soft launch" meaning that for the next couple of weeks, we are asking users to load the new version using the Mission Planner's "Beta firmwares" link…


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 34 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 94 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…


Comment Wall (31 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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