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Randy's Groups

Randy's Discussions

Optical Flow discussion thread

Started this discussion. Last reply by Kyomo Jung 10 hours ago. 41 Replies

James T Qs re frames

Started this discussion. Last reply by Craig Sep 7. 2 Replies

Copter reliability vs functionality

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


Welcome, Randy!

Latest Activity

Randy commented on earthpatrol's blog post Elle0 and Paparazzi UAV
"@Rob, I think Paparazzi is a well known open source system.  They were the first to work on the Bebop for example. There was also a good multi-vehicle demonstration posted in a blog post recently here."
7 minutes ago
Jacob Cunningham replied to Randy's discussion Copter-3.3 beta testing
"Yeah I get that. Hitec is a really good company and I hope they match the competition."
34 minutes ago

leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Thanks Dave, I will have a look as soon as I get home. And sorry for the capital letters."
36 minutes ago
Stone1295 replied to Randy's discussion Copter-3.3 beta testing
"I know your pain. :)  I fly Futaba most of the time.  The nice thing about these less expensive yet packed with features Tx's that are coming out is that it's pushing the big name players (Aurora, Spektrum, Futaba, etc.) to…"
36 minutes ago
Jacob Cunningham replied to Randy's discussion Copter-3.3 beta testing
"Thanks for the clarification. Wasn't sure if George-Kelley was advertising a different radio, my apologies. It's surprising that it isn't that expensive? My radio of choice previous was an Aurora 9 which was expensive and limited in…"
54 minutes ago
Stone1295 replied to Randy's discussion Copter-3.3 beta testing
"Who's transmitter?  You mean Marco's in the video at the top of the page? If so, that's a Taranis X9D.  Can't tell if it's the + or not but the + version is the only one that's on sale now as far as I…"
57 minutes ago
Jacob Cunningham replied to Randy's discussion Copter-3.3 beta testing
"Haha that's a joke right?, that radio in the video looks like a Spectrum DX something or Airtronics not a cheap Hobby King transmitter."
1 hour ago
George Kelly replied to Randy's discussion Copter-3.3 beta testing
"HobbyKing's 'Taranis-killer' (ok, exaggerated, but it's HK) is on sale for 50% off right now - the Turnigy 9xr Pro. $50 instead of $100, for Black Friday. Includes speaker and voice alerts. Some people are hacking the speaker…"
1 hour ago
Jacob Cunningham replied to Randy's discussion Copter-3.3 beta testing
"What transmitter is that? Are the voice/speakers stock?"
1 hour ago
Dave Wood replied to Randy's discussion Copter-3.3 beta testing
"I uploaded the right log as an answer to the first post now, thanks for having a look :)"
3 hours ago
Dave Wood replied to Randy's discussion Copter-3.3 beta testing
"I setup a sync issue test bench. I measured the exact signals with my scope and built a small tool to output the exact values the flightcontroller does with an fpga module. here is a video. in the top chart, you can see the pwm value, in the bottom…"
6 hours ago
Richard Kennedy replied to Randy's discussion Copter-3.3 beta testing
"re- log confusion... I have that confusion myself MANY times. Sometimes they are listed in a different order on the SD card than on my HD which makes it easy to make a mistake. "
7 hours ago
Dave Wood replied to Randy's discussion Copter-3.3 beta testing
"You were right, here is the correct log, which shows information that matches the behavior seen in the video. I am really sorry. That should not have happened. The timestamp of the video was wrong so I focused hard onto the wrong log.. Thanks for…"
8 hours ago
Kyomo Jung replied to Randy's discussion Optical Flow discussion thread
"Hi Paul, I'm not sure why log shows like that and I've tested it indoor like space under big bridge which protected GPS signal perfectly. I'll do test it again. Thanks for your comment ^^"
10 hours ago
Kyomo Jung replied to Randy's discussion Optical Flow discussion thread
"Thanks Goro, I'll try again and let you shared on the result ^^;"
10 hours ago

Randy commented on Víctor Mayoral's blog post Raspberry Pi Zero launched, towards < 60$ Linux autopilots?
"That is really great. $5 is just insanely cheap.  nicely done. A companion computer even for little copters!"
12 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

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 33 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 (29 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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