• Male
  • Tokyo
  • Japan

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  • Tianyuan Xiang
  • Lawrence Dennis
  • CropHawk
  • Airbot
  • Erick MEdina
  • Andrew Crinson
  • Dmytro Dvornichenko
  • Yaser Alipour
  • Petr Zverina
  • Konstantin Romanov
  • Eric_Chen
  • Antonis konstas

Randy's Groups

Randy's Discussions

PixRacer with Ardupilot

Started this discussion. Last reply by Chopper yesterday. 603 Replies

Ardupilot on QC Snapdragon

Started this discussion. Last reply by David Ahlgren Mar 10. 3 Replies

Pixhawk 1MB flash limit

Started this discussion. Last reply by Jagger yesterday. 76 Replies


Welcome, Randy!

Latest Activity

Randy commented on Stone Bai's blog post The First Dronecode China Conference in Beijing
"Really great!  well done!"
10 hours ago

Randy commented on Chris Anderson's blog post Standing room only at Dronecode Beijing
"That is amazing turnout!  congrats!"
10 hours ago
Chopper replied to Randy's discussion PixRacer with Ardupilot
"Could someone point me to where I can troubleshoot QGC/PX4? I have managed to flash FW, set up for quad chassis,calibrate sensors, but when I go to calibrate radio it wont. I click on calibrate, then on OK and it then goes back to click on…"
Jagger replied to Randy's discussion Pixhawk 1MB flash limit
"I just got a Pixhawk 2.4.8 from Fasttech.It reports build date as 24th February this year and a revision 3 chip. Dirt cheap.No affiliation.I just popped for one on the off chance to see what you get for $53.Banggood have them also I…"
Luc Maximilien replied to Randy's discussion PixRacer with Ardupilot
"EKF Compass error bug I think that I found a bug in 3.3.4 related to EKF compass error.No matter how well was the compass calibration , I always got the EKF windows that had compass that become orange or totally red even if in stabilize or loiter it…"

Randy commented on Gary Mortimer's blog post Its Friday, I'm just going to leave this here
"It's an impressive piece of work. I'm surprised he can fly it at all with, as others have said, pretty much no yaw control. "
Luc Maximilien replied to Randy's discussion PixRacer with Ardupilot
"Hard crash (firmware error ? ) , Pixracer  destroyed ! Short story , after having done successfully Autotune (all axis) of my large H quad  with Pixracer and 3.3.4 , I was testing the flightime and was in Loiter mode, some wind . Since I…"
Terry replied to Randy's discussion Copter-3.3 beta testing
"Maybe Randy or someone can answer this. 3.3 works with the Tarot 2d gimbal, does it also work with the Tarot 3DIII, and if not can this be included in 3.4? What I see of the 3DIII so far, it is a good and inexpensive gimbal. Also I am awaiting…"
Michael Burmeister replied to Randy's discussion PixRacer with Ardupilot
"Well I manage to download the ardupilot code and make changes to get the Pixracer on board LED's to work.  It was not too difficult to do but the output is not what I expected.  Because the LED is an all in one package, Lite-on LED,…"
Edgar Scott replied to Randy's discussion PixRacer with Ardupilot
"Has Tridges fix been pushed to the master?"
Paul replied to Randy's discussion Copter-3.3 beta testing
"Hi Randy, is there any progress on the Z1 Tiny2 gimbal to connect to AC?"
Paul replied to Randy's discussion Copter-3.3 beta testing
"Hi Jeremy, Did you have any result allready on the setting for the Tiny2? I'm looking everywhere to find something about the wiring from my PixHawk to the Tiny2."

Randy replied to Randy's discussion PixRacer with Ardupilot
"A warning to people flying Copter-3.4-dev that we've found two issues to do with the compass: 1. it's possible for compass #1's offset to be saved to compass #2. 2. offsets can be twice as big as they should if the vehicle is…"
Edgar Scott replied to Randy's discussion PixRacer with Ardupilot
"I fixed it, Android had a message in status bar "No Internet stay connected", there was an option to "stay connected", I checked that and it seems to have fixed it, sorry have not used tower in a long time."
Michael Burmeister replied to Randy's discussion PixRacer with Ardupilot
"I used tower a couple of time with WiFi no issues even flying off in a distance.  Your receiver must be getting in the way. Since the connection is UDP which means they are packets in the wind they must be getting dropped. "
Edgar Scott replied to Randy's discussion PixRacer with Ardupilot
"Has anyone confirmed that Tower (Android) does not work via wifi. I keep getting Data link lost every 10 seconds. If someone could confirm I would stop trying till next update ;)"

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-3.3 released!

Posted on October 8, 2015 at 9:58pm 80 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…


Copter-3.3 ready for wider use

Posted on September 28, 2015 at 7:18pm 82 Comments

After months of testing by the beta-testing team, Copter-3.3 is ready for wider use.  Similar to the Copter-3.2 release this is a "soft launch" meaning that for the next couple of weeks, we are asking users to load the new version using the Mission Planner's "Beta firmwares" link…


NAVIO+ Linux board with APM:Copter 3.3

Posted on June 3, 2015 at 12:00am 23 Comments

Click here to skip the commentary and just see the vehicle flying.

The video above shows my first attempt (which was successful) to fly APM:Copter using a Linux board (…


Multi-Vehicle testing with APM:Copter, Tracker and Mission Planner

Posted on May 3, 2015 at 8:21pm 36 Comments

For some tasks (like Search and Rescue and mapping) what you can do with one vehicle, you can probably do faster with multiple vehicles.  To test how well it works in practice I tested…


ArduCopter 3.2.1 released

Posted on February 11, 2015 at 1:00am 95 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…


Comment Wall (32 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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