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  • Tokyo
  • Japan

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  • Kevin
  • Moataz Dahabra
  • Alex Black
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  • Ban
  • Mike Yan
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  • Bhaskar Dutta
  • tmm
  • ParkYoungju
  • Shamir Pinedo
  • Tianyuan Xiang

Randy's Groups

Randy's Discussions

PixRacer with Ardupilot

Started this discussion. Last reply by Edgar Scott Nov 29. 1172 Replies

Ardupilot on QC Snapdragon

Started this discussion. Last reply by David Ahlgren Oct 26. 7 Replies

Pixhawk 1MB flash limit

Started this discussion. Last reply by Mark Brummett May 11. 85 Replies


Welcome, Randy!

Latest Activity

Dave commented on Randy's blog post Terrain Following Missions using Lidar
"Hi Randy, thank you for your great work! I have a question: despite many attempts using version Copter V3.4-rc1 (dfa90d29), it seems impossible to use the rangefinder (SF11) during mission in auto mode. Alt Hold and Loiter use Laser correctly, in…"
Nov 30
Edgar Scott replied to Randy's discussion PixRacer with Ardupilot
"Yes, it is a fantastic board, but It's been sitting in a drawer for over 6 months, I have been more into the F3 racing scene.Nothing more."
Nov 29
Johnatan replied to Randy's discussion PixRacer with Ardupilot
"May I ask why you want to sell it? Isn't it a great board?"
Nov 29
Edgar Scott replied to Randy's discussion PixRacer with Ardupilot
"I no longer have a need for my PixRacer.If anyone wants it with GPS and the 2 power modules for $70 please let me know.I purchased it direct from auavIf not ill put it on ebay, but figured I would give the guys at DIY a first chance.I think I have…"
Nov 29
Naoki Kato commented on Randy's group Japan ArduCopter Group
"お世話になります。自己解決ですみません。本日、愛知県の港南5区で試験を行い、Planeのオートパイロットの問題は解決しました。やはり、1番目が通常のWAYPOINTになっていたのが問題で、TAKEOFFにして通常離陸後にAUTOにしたら、2番目のWAYPOINTに飛んで行きました。途中、何かのFAILSAFEに引っ掛かって、上空100mで旋回してましたけど・・・(苦笑) これからログを追って解析してみます。"
Nov 24
Masafumi Miwa commented on Randy's group Japan ArduCopter Group
"うちの問題は、これで解決らしい。 でも、同じ日に、同じ場所で、別のWin10ノートPCで作業をして 挙動が違うってのが謎ですね。"
Nov 22
Naoki Kato commented on Randy's group Japan ArduCopter Group
"Planeのオートパイロットなんですが、Missionを作成し、離陸時はFBWAで飛ばして、Autoに切り替えると、一番最初のWAYPOINT(TAKE OFF)に向かって行くんでしょうか?先日試してみましたが、どうもHOMEに戻ってきてしまう挙動をしていたので、途中で止めました。この時は、最初のポイントがTAKE OFFではなく、通常のWAYPOINTになっていたかも知れません。AUTO TAKE OFF でHOMEから開始すれば行けそうですが、何だか怖くてチャレンジしてません(笑)"
Nov 22
Masafumi Miwa commented on Randy's group Japan ArduCopter Group
Nov 21
Masafumi Miwa commented on Randy's group Japan ArduCopter Group
"自分のWin10 ノートPCだと、 の作業をたどるだけで環境を作れたんですが、 研究員のWin10マシンだと、makeで止まっちゃう。 Python周りがおかしいみたいんだけど、 どなたか、アドバイスいただけませんか?                                                        &…"
Nov 21
Rich Beckwith commented on Randy's blog post Copter-3.4's polygon fence
"Randy,  Any chance you could ask Michael to include a "clear polygon fence" feature?  Still a bit unclear on how to remove mine now that it's in place."
Nov 10
Greg Covey replied to Randy's discussion figuring out the Antenna Tracker
"Randy looks to be busy with the Copter v3.4 release. "
Oct 27
David Ahlgren replied to Randy's discussion Ardupilot on QC Snapdragon
"I am building a larger quad with the snapdragon board but need  to connect my own ESC's where do I get the code for the Pixracer that you reference that was done by "Tridge" any other pointer in hooking this up to a larger drone.…"
Oct 26
Mike Mac replied to Randy's discussion figuring out the Antenna Tracker
"What happened to Randy? Is he working on V1.1? "
Oct 26
Greg Covey replied to Randy's discussion figuring out the Antenna Tracker
"I have never built the code so hopefully someone else will post a solution for you. "
Oct 26
Greg H. commented on Randy's blog post Copter-3.4 beta testing starts
"ok Thanks a lot Randy. Best"
Oct 25

Randy commented on Randy's blog post Copter-3.4 beta testing starts
"GregH, There have been many changes for sure including some in MAVLink.  Perhaps it was the addition of MAVLink2?  Or perhaps some messages were replaced by others?  If it's MAVLink2, I think only -rc6 has it as the default…"
Oct 25

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-3.4's polygon fence

Posted on August 16, 2016 at 6:12am 3 Comments

One of the more important features that will arrive with Copter-3.4 (still in beta testing) is the Polygon Fence (the full list of features can be seen in the …


AntennaTracker v1.0 on NAVIO2 with Bebop2

Posted on July 28, 2016 at 2:07am 28 Comments

ArduPilot's Antenna Tracker firmware has been making some quiet progress over the past few months.  They're all documented in the …


Copter-3.4 beta testing starts

Posted on May 30, 2016 at 10:30pm 25 Comments

Copter-3.4-rc1 has been released for beta testing and can be downloaded using the Mission Planner's Install Firmware screen's beta firmware link.  Some of the changes since Copter-3.3.3 are listed below.

1) EKF2 allows "boat mode" (attitude initialisation without gyro calibration)

2) …


Terrain Following Missions using Lidar

Posted on May 13, 2016 at 11:30pm 25 Comments

The upcoming Copter-3.4 release will include terrain following support for mission commands using either Google earth altitude data or a Laser Range Finder.  This is a demonstration video shot at a ski hill near my home in Karuizawa Japan of this new feature.

For this test I used a venerable 3DR IRIS with a …


Copter-3.3 released!

Posted on October 8, 2015 at 9:58pm 81 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…


Comment Wall (33 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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