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Randy's Discussions

Copter-3.3 beta testing

Started this discussion. Last reply by DG 37 minutes ago. 197 Replies

ArduCopter-3.2.1 Beta Testing

Started this discussion. Last reply by Cala on Monday. 575 Replies


Welcome, Randy!

Latest Activity

DG replied to Randy's discussion Copter-3.3 beta testing
"Thanks Randy. Like I said, no death wish for my quad, and no desire to blindly test "latest", but Marco posted [I think] what I'm looking for; a specific update that includes Auto Tune changes since that has been my nemesis.  "
37 minutes ago
Julian replied to Randy's discussion Copter-3.3 beta testing
"How do I setup the aux channel for the retractable landing gear? There are still just 27 entrys in RCX_FUNCTION - Parameter."
1 hour ago

Nathaniel Caner replied to Randy's discussion Copter-3.3 beta testing
"FYI: You need to be using the Beta version of Mission Planner in order to see V3.3-rc1, otherwise it shows up as V3.2. Regards, Nathaniel ~KD2DEY"
1 hour ago
Keith G replied to Randy's discussion figuring out the Antenna Tracker
"A wizard for the tracker would be nice too. Under optional hardware, antenna tracker, there is no option for using APM or pixhawk."
2 hours ago
Andrei replied to Randy's discussion Copter-3.3 beta testing
"So, is something broken with EKF checks in 3.3rc1 ? And what does it disables? What kind of checks? Is it safe?"
3 hours ago

paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Sharp 'spikes' in the accels are often a sign that you have high frequency vibration that is causing the accelerometer to clip. This type of vibration and clipping can  often look OK in the log, because what you are seeing there is…"
4 hours ago
Alex O. replied to Randy's discussion Copter-3.3 beta testing
"Sure but I would like to know the Pixhawk's shelf life before making the purchase. My APM 2.5's usable life was less than 2 years and that is with adding an external compass and some other add ons to keep it current.  Yes, it is still…"
4 hours ago
Rajnish Kapur replied to Randy's discussion ArduCopter-3.2 beta testing
"I too am having exactly the same problem. The radios are 20 cms apart and the "Timeout on read - Get Log" error message pops up and signal drops straight to < 20% ( random ) and continues to go down and then takes a good 2-3 minutes to…"
5 hours ago
Michal G replied to Randy's discussion Copter-3.3 beta testing
"I have just registered to say this - THANK YOU! I have spent last week tearing down my quad to the level of engine bearings there and back in order to remove the problem with unstable alth-hold. I have suspected vibration as a cause. With 3.2.1 the…"
5 hours ago
James Doble replied to Randy's discussion figuring out the Antenna Tracker
"Update - I now have the antenna working in a full 360 degree rotation, however there is another problem. When flying counter-clockwise around the tracker, it reaches its endpoint and spins around 360, and continues tracking. However, when flying…"
6 hours ago
fred flintstone replied to Randy's discussion figuring out the Antenna Tracker
"Hmm more details please so what your saying i can play a log in xplane ? "
6 hours ago
Jean-Marie PRIGENT replied to Randy's discussion figuring out the Antenna Tracker
"Hi Jakub ! I'm not using this solution for now but a comment to this : "5. Enhanced test mode - It is difficult to test the tracker operation without active target, simple "point trakcer here" option in Mission Planner would be…"
6 hours ago
Jakub Oller replied to Randy's discussion figuring out the Antenna Tracker
"I gave it some thought and the first few modifications that may be pushed to master (I don't know the correct term but what I mean is commiting it into main repository) should include: 1. One additional servo mode for continuous rotation servos…"
6 hours ago
Pomaroli replied to Randy's discussion Copter-3.3 beta testing
"Just set EKF_CHECK_TRASH to 0 this will disable the check for now."
7 hours ago

Marco Robustini replied to Randy's discussion Copter-3.3 beta testing
"Flying with beta firmware is quit dangerous, you are warned.Anyway i'm flying now with a compiled firmware with Autotune fix (this commit) without problem."
7 hours ago
Andrei replied to Randy's discussion Copter-3.3 beta testing
"On some docs I found: This new “EKF Check” triggers a (non-GPS) LAND if: 1.       EKF is enabled and the “Mag Variance” is over 0.6 for 1…"
9 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 76 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 234 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 38 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 (26 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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