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Randy's Groups

Randy's Discussions

figuring out the Antenna Tracker

Started this discussion. Last reply by Doug Walmsley yesterday. 41 Replies

ArduCopter-3.2 beta testing

Started this discussion. Last reply by Alex O. 17 minutes ago. 2845 Replies

ArduCopter-3.1 released!

Started this discussion. Last reply by Bill Isenberger Oct 19. 1530 Replies


Welcome, Randy!

Latest Activity

Alex O. replied to Randy's discussion ArduCopter-3.2 beta testing
"Randy (or anyone willing to answer) a quick question... Currently have AC3.1.1 and plan on ugrading to AC3.1.5 would like to know the following two: 1. Do I need to do all compass&accel calibration? 2. Would I still be able to use CLI/Terminal…"
17 minutes ago
Chris Jennings replied to Randy's discussion ArduCopter-3.2 beta testing
"Randy, I found out that for some reason the APM is not accepting the Position mode switch. I will have to double check my mode selection options and transmitter calibration. Sorry for the dodgy error report."
26 minutes ago
fabio replied to Randy's discussion ArduCopter-3.2 beta testing
"tested yesterday arducopter 3.2 RC13 , ok loiter , rtl position point landing inaccurate than RC12 . regained control stabilize .failsafe dcm ? there seems to be some problem dcm failsafe no control quadricopter remote control input"
28 minutes ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Chris, Thanks for the report.  I couldn't immediately recreate the problem in the simulator so looking forward to the logs."
1 hour ago
Jiro Hattori commented on Randy's group Japan ArduCopter Group
"Miwaさん、これですね。 こちらこそ、よろしくお願いします。 "
2 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Rana, On the surface at least, it looks like a brown-out.  The logs suddenly stop 2.1 seconds after entering Guided mode when the vehicle is about 3m in the air.  A catastrophic software bug might also look the same but there's no…"
4 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Sven,      I can't help too much with the AutoTune parameters, probably best to discuss that with Leonard on the AC3.1 AutoTune discussion.      For the battery failsafe, it seems that there's no way…"
5 hours ago
Ray Gamero replied to Randy's discussion ArduCopter-3.2 beta testing
"More data for that no land issue I have.  I loaded RC13 on my TRex 550 trad.  Flew it 4 times and the first 3 were great.  The fourth did not land on the RTL.   After a battery swap, the fifth run did not land either.  I got…"
6 hours ago
Cala replied to Randy's discussion AC-3.1 autotune support discussion
"I fly today with my designed autotune but I change stab roll and pitch to 6 with idea to redo autotune but it was a windy day (20-25km/h)  and my copter fly satisfactory for me, considering low kv motors and big props (not recommenden for windy…"
10 hours ago
Masafumi Miwa commented on Randy's group Japan ArduCopter Group
"MakerFaire, 屋外展示でとばせるといいですね! Hattoriさん、今回もよろしくお願いします。"
10 hours ago
Leonid Cherednichenko replied to Randy's discussion ArduCopter-3.2 beta testing
"Randy, please tell me What parameters should I set for GPS+Compass module rotation at the copter frame to 180 or 270 deg ?"
18 hours ago
Rana replied to Randy's discussion ArduCopter-3.2 beta testing
"Today, I had two flights with AC3.2_RC12 with APM2.6. In first flight, I tested stabilize, Loiter and RTL, it did well. In the second flight, I took off in Loiter and at 3mt altitude, using latest DroidPlanner 2, while, the quad was in loitering,…"
19 hours ago
Sven replied to Randy's discussion ArduCopter-3.2 beta testing
"Hi, yesterday i loaded the rc13 to my new Tarot 650 with 6S 380kv 15x5,5 Props and RTFhawk with M8GPS from csg. The first flight test was ok. Smooth flight in Stablize but toilet bowling in PosHold.  After the flight with about 35% throttle i…"
22 hours ago
Phanivyas replied to Randy's discussion ArduCopter-3.2 beta testing
"Hi Marco, now that you have mentioned about throttle fluctuations could mixed ESC (simonK & normal) be the cause? Actually one of the ESC went faulty so temporarily I have used non simonk for one motor till the new one arrives. By the way…"
22 hours ago
Chris Jennings replied to Randy's discussion ArduCopter-3.2 beta testing
"I believe I have found a bug in 3.2r12. When switching from Drift mode to other "assisted modes" for example loiter, position the yaw control is disabled. The only way to regain yaw control after using drift mode is to switch to stabilize…"
22 hours ago

Marco Robustini replied to Randy's discussion ArduCopter-3.2 beta testing
"There're excessive throttle fluctuations throttle in your log, check the vibrations in your quad, if you do too much more effort to land automatically."

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

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 32 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 (24 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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