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Randy's Groups

Randy's Discussions

figuring out the Antenna Tracker

Started this discussion. Last reply by Doug Walmsley 8 hours ago. 49 Replies

ArduCopter-3.2 beta testing

Started this discussion. Last reply by Igor 1 hour ago. 3388 Replies

ArduCopter-3.1 released!

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


Welcome, Randy!

Latest Activity

Igor replied to Randy's discussion ArduCopter-3.2 beta testing
"Strangely enough, the problem went away this morning. I tried to arm it and succeeded?! The only thing that's different from yesterday is that I didn't connect it to MP."
1 hour ago

Randy replied to Edgar Scott's discussion We should put an and to the Transmitter for Multicopters in the group ArduCopter User Group
"The day will come where we we won't require a transmitter but before then we need to increase the reliability so that it is close to a human pilot's.  Each release gets safer but we still have a few situations where the autopilot…"
4 hours ago
Doug Walmsley replied to Randy's discussion figuring out the Antenna Tracker
"Randy,  Would it be possible for you to create a setup, configure, and test video?  I hate to ask, but I have hit a wall on getting the second telemetry unit to communicate with my GCS.  Not sure what to do with Ctrl+F menu and I see…"
8 hours ago
Hugues commented on Randy's blog post ArduCopter 3.2 ready for wider use
"It is indeed not required if you use it on the same board. I intend to use this one as the second GPS and that leaves me the compass free to use on another compagnon board, so I need a ground ref."
16 hours ago
Igor replied to Randy's discussion ArduCopter-3.2 beta testing
"Hi, I have a problem that I cannot arm my copter any more. There are no prearm errors, it just refuses to arm. I had some problems with a (pitch/roll) gimbal on my 9xr Pro transmiter, that I sorted out - a loose potentiometer. After fixing it I did…"
17 hours ago
Richard Kennedy replied to Randy's discussion ArduCopter-3.2 beta testing
"ahhh yes very good info thanks! I guess I should RTFM more often...."
17 hours ago
Richard Kennedy replied to Randy's discussion ArduCopter-3.2 beta testing
"Am I looking at / reading this right? See pic"
17 hours ago
Chris replied to Randy's discussion ArduCopter-3.2 beta testing
"Will 3.2 be beta forever? Greetz Chris"
19 hours ago
MarkM commented on Randy's blog post ArduCopter 3.2 ready for wider use
"Whoops, I forgot about soldering the jumper to select 3.3v. As for soldering on the extra GND wire I think it's unnecessary. The GPS port on this chip has connections for Tx, Rx, + and GND, the + and GND will be being sent to the hmc5983 chip…"
20 hours ago
Pomaroli replied to Randy's discussion ArduCopter-3.2 beta testing
"here is comparision between Auto tune on the left and Iris Factory settings on the right Autotune is going nesrby to be double factory settings "
20 hours ago
Pomaroli replied to Randy's discussion ArduCopter-3.2 beta testing
"Hi There, i'm just turning in circles, i've still problem's with the new Autotune. I onestly don't understand why it was changed since AC3.1.5 as it was working like charme. I already suggested to make it adjustable for those how…"
20 hours ago
Hugues commented on Randy's blog post ArduCopter 3.2 ready for wider use
"@Reuben, Here is how I bridged the GND from the GPS port to the missing Compass ground port: And then you have to hack a cable to be able to plug it in a pixhawk GPS & compass DF13 connectors: (the white connector and cable is orignally…"
22 hours ago
Jiro Hattori commented on Randy's group Japan ArduCopter Group
"Make 2014 の、搬入完了。  明日、明後日の展示です。"
23 hours ago
yuvraj replied to Randy's discussion ArduCopter-3.2 beta testing
"I have a hexacopter I have make an so many RTL'S with the altitude of 5 in the flight plan it done perfectly when iam setting into the auto mission its not getting the required altitude which was 5 default alt . I have reinstalled mission…"
Reuben commented on Randy's blog post ArduCopter 3.2 ready for wider use
"How about setting the 3v or 5v jumper? see photo .. I thought you also had to set the baud rate and the std 1kz update rate to 10kz.. "

3D Robotics
Craig Elder replied to Randy's discussion ArduCopter-3.2 beta testing

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

ArduCopter 3.2 ready for wider use

Posted on November 7, 2014 at 2:18am 180 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 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…


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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