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Randy's Groups

Randy's Discussions

ArduCopter-3.2.1 Beta Testing

Started this discussion. Last reply by Reuben 1 hour ago. 285 Replies

figuring out the Antenna Tracker

Started this discussion. Last reply by Keith G yesterday. 132 Replies


Welcome, Randy!

Latest Activity

Reuben replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Yes you would think the correct way is Less pressure means the copter thinks its higher so drops . Higher pressure thinks it too low so climbs ..So in your case of the vent letting air in it would climb rather than fall. I guess it was creating a…"
1 hour ago
Richard Kennedy replied to Randy's discussion ArduCopter-3.2 beta testing
"If using sonar for altitude how does the upcoming 3.3 code deal with the baro sensor? Is it going to be just one or the other or is the baro going to take over after X amount of altitude? What's the different between sonar and optical flow? Can…"
2 hours ago
勇進 湯 replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
3 hours ago
Richard Kennedy replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Cool ... what is that setting? "
3 hours ago
勇進 湯 replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
" Try changing the INAV_TC_Z to 7 (default is 5). I get less altitude drop."
3 hours ago
Richard Kennedy replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"My experience was with a Aqucopter. It's a waterproof quad. It came with a small 1/2" circle patch that let air in but not water. With just that it would very often lose alt badly going forward. Why?? I'm not sure but it seemed that…"
4 hours ago
Reuben replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"I have even tried to seal the baro in a condom ( well not an Actual condom) Lol ..but seal it so it has no access to the outside air and the craft still drops altitude in one direction .So I think this "issue" with saying it is affected by…"
4 hours ago

Randy replied to John G.'s discussion Does Autotune work for trad-heli's? need PID's for Trex 450
"JohnG,   Been there!"
5 hours ago
Michael replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"You may have your APM mounted too far forward. I had a disco clone and the rear of the APM was between the rear arms."
6 hours ago
Edgar Scott replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"In a DISCO there is virtually no airflow in the front as the TBS has the gimbal, GoPro, dampeners and pilot camera directly in the front so its pretty buried, but heres a pic. "
6 hours ago

Randy commented on Charles lakins's blog post Storm32 BGC gimbal
"Looking good.  We've been working with OlliW and have added a SToRM32 gimbal library into master (so it will go out with AC3.3) this will mean you can plug the pixhawk into the serial port.  So far we only have the…"
6 hours ago
Richard Kennedy replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"I'm not Randy but.... here's my 2 cents I highly doubt it's because of the firmware. This is almost certainly because of airflow impacting the barometer inside the controller. Post a picture of your quad. I experimented with this…"
8 hours ago
Edgar Scott replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Randy, I have noticed that full throttle forward I drop a whole lot of altitude pretty rapidly in Pos-Hold with my TBS DISCO Pro with Firmware 3.2/APM 2.6 (3DR)/uBloc.  I know its somewhat normal but I feel its more than it should be, pretty…"
8 hours ago
SteveC commented on Randy's blog post ArduCopter 3.2.1 released
"It looks like the choice for primary compass "Compass External" changed from 0 (internal) to 1(external) somehow."
12 hours ago
Katsuya Noguchi commented on Randy's group Japan ArduCopter Group
"PixHawkでenRouteの940でセッティングを煮詰めています。autotune、試してみましたが、ハンチングがひどい設定になってしまい、 元に戻しました。どんな機体でも大丈夫ということではないのでしょうか? PositionHoldを試しています。LoiterよりもGPSの恩恵を得られながら自由に動かせるのでいい感じです。 ただ、動いている間にスティックを中立にした時に、かなり惰性で進んでからいい感じに止まります。 いい感じはいいのですが、デフォルトの設定では少し流れすぎると感じています…"
17 hours ago
snowest commented on Randy's blog post ArduCopter 3.2.1 released
"I get twice the same ID on Compass_dev_id and Compass_dev_id2. so AC 3.2.1 see that there are two of them but gives the same ID and so I get a prearm compass not kalibrated.Two days ago everything was fine an I could perfectly fly in Loiter. I…"
22 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

ArduCopter 3.2.1 released

Posted on February 11, 2015 at 1:00am 74 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 229 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…


ArduCopter 3.2 ready for wider use

Posted on November 7, 2014 at 2:18am 226 Comments

After months of testing, ArduCopter 3.2 (aka APM:Copter) is ready for widespread use and we invite all users to give it a try.  In order to manage the support load at first it will be available only through the Mission Planner and APM Planner2's Beta Firmwares link.  This link is visible from the regular "Install Firmware" page if you check…


Red Balloon Finder

Posted on June 17, 2014 at 5:04am 37 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…


Comment Wall (25 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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