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Randy's Discussions

ArduCopter-3.2.1 Beta Testing

Started this discussion. Last reply by Craig Earon 4 minutes ago. 97 Replies

figuring out the Antenna Tracker

Started this discussion. Last reply by Randy 14 hours ago. 90 Replies


Welcome, Randy!

Latest Activity

Craig Earon replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Did some 3.2.1 beta test. A little over 1 minute things went south and I had a crash. From what the logs seem to indicate, I had an err in flight mode-8. That seems to indicate a failsafe issue with GCS. While I normally use a GCS, I do not use it…"
4 minutes ago
Chris Hass replied to Randy's discussion ArduCopter-3.2 beta testing
"What issues are you having with you HK pilot Micro? Mine will not let me arm the system even with all the pre checks disabled. The esc's don't go through the complete arming sequence either. Chris Hass"
1 hour ago
ronhogwarts replied to Randy's discussion ArduCopter-3.2 beta testing
"I too am having this issue with the new HKpilot micro, did you find a solution? "
4 hours ago
Richard Evans replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"No Position Hold with Pixhawk! This issue is happening (err mode_8 ) in 3.2 and 3.2.1    Forgive me If it is not correct to post in this thread, but I'm not getting any traction posting elsewhere. please look at…"
14 hours ago

Randy replied to Randy's discussion figuring out the Antenna Tracker
"Mike, I haven't used the bluetooth modules on the antenna tracker but it works fine on a copter.  I can't imagine any reason why it wouldn't work and it's a cheaper and easier solution for the AT<->GCS jump. …"
14 hours ago

Randy commented on Gary Mortimer's blog post DJI to release mandatory firmware update
"@Sgt Ric, hey moderator, be nice!"
15 hours ago

Randy replied to Randy's discussion figuring out the Antenna Tracker
"Andre, Ah right. I'd forgotten that for antenna tracker goes straight out to the mission planner with no release management!  We will fix that.  Ok, so now that 0.3 has snuck out, we will name the version with the telem2 fixes…"
15 hours ago
Mike Mac replied to Randy's discussion figuring out the Antenna Tracker
"According to the 3DR instructions bluetooth is supported. Before I purchase the module I would like to know if anyone has had success making it work. Are their any disadvantages (other than range). Or should I just get another set of 3DR…"
15 hours ago
Josh Welsh replied to Randy's discussion figuring out the Antenna Tracker
"He put the mavlink routing stuff in, but the telem2 fix isn't in yet."
23 hours ago
Andre replied to Randy's discussion figuring out the Antenna Tracker
"But in Missionplanner I can load AT V0.3. What are the changes of these V0.3?"
Doug Walmsley replied to Randy's discussion figuring out the Antenna Tracker
"Yer my hero!  Thank you Randy."

Randy replied to Randy's discussion figuring out the Antenna Tracker
"Andre, The fix for Telem2 isn't in master yet.  It's only sitting in my febe-gimbal5 branch.  I'll merge it to master later this week and push out AT0.3 as an official release before the weekend."
Andre replied to Randy's discussion figuring out the Antenna Tracker
"Today I tried AT 0.3 Unfortunately I can't see any Improvement.Telemetry 2 is still not working. There are absolutely no Data even no Heart beat.The HUD from the Copter (AC3.2) is not updating through the AT. "

Felix Meissner replied to Randy's discussion figuring out the Antenna Tracker
"@ Rand, you are right - the altitude and vertical speed does not change in the HUD. Everything else works (armed, disarmed, ground speed, yaw, flight mode etc.). Disconnecting and re-connecting doesn't change the situation. The MP telemetry…"

Randy replied to Randy's discussion figuring out the Antenna Tracker
"Felix, On the MP, if you select Ctrl-X and then select the copter from the drop-down, do you see the attitude in the HUD change as you tilt the vehicle?  I'll bet you don't.  This means that the position and attitude is likely…"

Felix Meissner replied to Randy's discussion figuring out the Antenna Tracker
"@ Randy - thanks for the information. My vehicle (3DR IRIS+) had GPS lock and was armed - but the tracker just kept on blinking green. On the mission planner I could see the position of both, the IRIS and the antenna tracker. Putting the tracker…"

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

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 215 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…


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…


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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