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Randy's Friends

  • Akhmat Safrudin
  • william han lee
  • Kostas Karadimas
  • 許裕鴻
  • Brandon Walker
  • ThatJoshGuy
  • Enrique Aguirre
  • Team Tiltrotor
  • kyosuke motohashi
  • Robby
  • ChavAnd
  • Morid aghili
  • zhuang cheng wei
  • Todd Harper
  • Hyrum Fairbanks

Randy's Groups

Randy's Discussions

ArduCopter-3.2.1 Beta Testing

Started this discussion. Last reply by Randy Bachtell 4 hours ago. 86 Replies

figuring out the Antenna Tracker

Started this discussion. Last reply by Doug Walmsley yesterday. 76 Replies


Welcome, Randy!

Latest Activity

Randy replied to ThatJoshGuy's discussion Pixhawk BAD ACCEL HEALTH APM 3.2 - collecting data
"@titeuf007, Please do not assume it is a software failure.  The MPU6k failures at least are hardware failures."
50 minutes ago

Randy commented on Bertrand Duchiron's blog post Cheap IR LIDAR Lite (90$)
"@Sandy, I've created an issue for the wiki here.  Hamish has taken over the wiki updates so hopefully he can take care of it."
3 hours ago
Randy Bachtell replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Flew 6 full battery test flights this weekend and only one small problem.  I had to abort an autotune due to wind and landed in autotune rather than switched low to revert to previous PIDs.  The motors did not shut down and it flipped…"
4 hours ago

Randy commented on Bertrand Duchiron's blog post Cheap IR LIDAR Lite (90$)
"@Ravi, No need for the optical isolation.  just separate power source and caps on the power line."
Doug Walmsley replied to Randy's discussion figuring out the Antenna Tracker
"Randy mentioned something about pushing v0.3 but nothing so far.  Be nice if Mission Planner could integrate a setup wizard for the Antenna Track much the way they have for the air frames. Still not excited the Telm2 is still not working for…"

Randy replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"@William, Thanks very much for testing and helping us to find any issues. If you could provide a log file that would be best, without a log it's mostly guesswork.  If the issue appears around arming, then setting the Log-Bitmask to…"

Randy replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"David, It's possible although the PM message picks up the arming delay so it's best to throw away the next PM message after arming."

Randy commented on Bertrand Duchiron's blog post Cheap IR LIDAR Lite (90$)
"@healthyfatboy, Yes, an existing BEC should also be fine.  The critical bit is to separate the power supply to the LIDAR from the Pixhawk/APM."

Randy replied to Gregory Harrington's discussion GeoFence Altitude Behavior has changed ?!?!? When did it change?
"It could be a bug/mistake.  We made a huge number of changes between AC3.1.5 and AC3.2 so it's possible it was missed.  I've raised an issue here so we will check before AC3.3 goes out."

Randy commented on Bertrand Duchiron's blog post Cheap (around 350$) FLIR dev kit for Arduino
"Thorsten, Thanks again.  So it looks like the thermal imager itself is 4x the current resolution.  So instead of 80x60 it'll be something like 120 x 80 pixels.  Making it work with android means we have a much better chance of…"

Randy replied to Gregory Harrington's discussion GeoFence Altitude Behavior has changed ?!?!? When did it change?
"Gregory, I guess you're talking about copter?  It depends which mode you're in so if it's AltHold, Loiter or PosHold it should stop just below the altitude limit.  That was how it worked in AC3.1.5 and AC3.2 should be the…"
William Davidson replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Hi Randy, Some good improvements on version 3.2. We have really seen the difference on larger heavier multi-rotors when being able to reduce the "Jerk" Settings. We are having the pitch drift problem as well. Turning on the Kalman Filter…"
David Pawlak replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"I've been seeing a lot of long loops in the Log ANalyzer for this version. Think there are more than there were in the regular 3.2 Here is the log of the Tmax. Something strange... I switched from Poshold to stabilize and back to poshold…"
Willy Fernandez replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Thanks so much David. Yes, i was aware of this behavior so i did the same, I  positioned the 2nd to the last waypoint where i want it and use the last waypoint as the dummy one. The second flight is a different flight plan. I just thought i was…"
David Pawlak replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"I've seen this for a while now, since before 3.2 I think. I have a feeling it came in with splines? I wondered if it was something I was doing? I've gotten to put an extra WP between where I want it to RTL and the home position, so it RTL…"

Randy commented on Bertrand Duchiron's blog post Cheap (around 350$) FLIR dev kit for Arduino
"Thorsten, Very cool.  Thanks for that.  A higher resolution than the current Flir One would be great.  I'll bet it still won't be too expensive but I also suspect the thermal sensor itself won't be 640x320.  Even…"

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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