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Randy's Groups

Randy's Discussions

figuring out the Antenna Tracker

Started this discussion. Last reply by Michael Oborne on Monday. 5 Replies

ArduCopter-3.2 beta testing

Started this discussion. Last reply by Toby Mills 1 hour ago. 896 Replies

ArduCopter-3.1 released!

Started this discussion. Last reply by Emin Bu Jul 18. 1508 Replies


Welcome, Randy!

Latest Activity

Randy replied to Simon Gibson-Poole's discussion Magnetometer issue, lack of mission waypoins or both (or something else!)? in the group ArduCopter User Group
"Simon, I had a look at the logs assuming that it would be a compass problem because that's the normal cause when these massive circling events happen but the interference levels (i.e. compass vs throttle) look quite low. The compass orientation…"
30 minutes ago
Toby Mills replied to Randy's discussion ArduCopter-3.2 beta testing
"log file attached"
1 hour ago
Toby Mills replied to Randy's discussion ArduCopter-3.2 beta testing
"Ok, an update, I flew again today in virtually no wind, it appears the max speed is actually the same in all modes."
1 hour ago

Randy replied to Henri's discussion Skycat parachute launcher for Drones
"Nah, I don't think we would add support for that.  If you need to do sophisticated and critical communication with the flight controller it's got to be via a sophisticated interface!"
1 hour ago
Edgar Scott replied to Randy's discussion ArduCopter-3.2 beta testing
"Thanks Randy, Well I have a brushless gimbal and it just can't keep up with the fast twitch, no biggie, really I can remove it easy with a post warp stabilizer but in this smoky mountain video I wanted to show you how crazy smooth it was even…"
3 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Toby, if you have a dataflash log we can probably figure out what's wrong.  You should have full control of the lean angle in stabilize and alt hold.  the ANGLE_MAX parameter is the one that could limit you there but that *should*…"
5 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Edgar, Yes, that little twitch as it goes past the waypoint is a real pain.  A nasty blemish on an other smooth video.  A brushless gimbal might obscure it some but yes, we need to resolve it in any case."
6 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"For those who fly ACRO, here's a video from JoshW of ACRO on AC3.2. "
6 hours ago
Brandon Clifford replied to Randy's discussion AC-3.1 autotune support discussion
"Autotune Producing Awful Outcomes Problem: Autotune sets pids so low that It can hardly fly, (crashes almost instantly after about 5 seconds) Background: Sunnysky x2212 980kv - 10x5 Carbon Fiber Props - In default pids stabilize flys OK (not great),…"
8 hours ago
Toby Mills replied to Randy's discussion ArduCopter-3.2 beta testing
"Just reporting my experience with RC3.I upgraded my 3DR X8 (2014) to RC3. I ran through the recommended calibs. I've tried almost every mode with no major issues, the only problem I have found is that the horizontal speed seems to be limited in…"
10 hours ago
Leonid Cherednichenko replied to Randy's discussion ArduCopter-3.2 beta testing
"Randy, please tell me about parameter "feedforward". What is it? What does it do?"
healthyfatboy replied to Randy's discussion AC-3.1 autotune support discussion
"Excellent! Thank you for answering and taking a look. Do you think it would be worth just resetting the PID values to default just to see what it comes up with? I already have the current PIDs saved so it wouldn't be difficult to do. Either…"
Edgar Scott replied to Randy's discussion ArduCopter-3.2 beta testing
"> Is WP 7 do-set-ROI? Yes Will ArduCopter switch ROIs whenever the next WP is do-set-ROI?Yes> After the last ROI WP, will ArduCopter continue to face the last one Yes, in 3.2, I think there's a PID that…"
nickthecook replied to Randy's discussion ArduCopter-3.2 beta testing
"I'm curious about how 3.2 behaves with multiple ROIs. I see in your video that on the way from 3 to 5 the camera is on ROI 4, which makes sense. It also appears to continue looking at 4 between 5 and 6, but then it switches to a new ROI. Is WP…"
jpsue commented on Randy's group Japan ArduCopter Group
"はじめまして、もうすぐ還暦のArduCopter初心者です。 MultiWiiベースのナビ(オートパイロット)で遊んでいたのですが、高度維持やポジションホールドやヘディング制御に物足りなさを感じ、ArduCopterを試し始めています。 モータースパン230mmの小型クワッドに当初はATmega2560ベースのコントローラを載せて調整をしていましたが以下の問題がどうしても解決できず、今は先日購入したPixhawkでオートパイロットの試行錯誤を繰り返しています。 ただ、このサイズのクワッドにPix…"
Sam Yakulis replied to Randy's discussion ArduCopter-3.2 beta testing
"Loaded 3.2-rc3 yesterday and flew a mission with a mix of spline and regular waypoints. I also performed an Autotune and then flew in several flight modes. I have never seen my quad act so stable. Many thanks to all of the developers that make this…"

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 UAS 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 30 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 (23 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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