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  • Tokyo
  • Japan

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  • Iccobella Cheung
  • Flycam
  • Eric Zhu
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  • Juan Manuel Uteda
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Randy's Groups

Randy's Discussions

Copter reliability vs functionality

Started this discussion. Last reply by Marco Robustini Jun 19. 204 Replies

Copter-3.3 beta testing

Started this discussion. Last reply by Randy 1 hour ago. 3385 Replies

ArduCopter-3.2.1 Beta Testing

Started this discussion. Last reply by Johann Bruwer Jul 22. 585 Replies


Welcome, Randy!

Latest Activity

Randy commented on Chris Anderson's blog post Another good-looking APM-based crowdfunded drone
"Looks ok to me.  Pretty copter and the price is good while hopefully not unrealistically low so the project has a chance of actually succeeding. One small thing is the red square around the snowboarder on the phone screen is a bit…"
1 hour ago

Randy replied to Randy's discussion Copter-3.3 beta testing
"Greg, Yes, you'll need to land and disarm while still in AutoTune (i.e. ch7/ch8 switch high or flight mode set to AutoTune) to save the gains.  I've slightly updated the "Changes for 3.3" section of the AutoTune wiki…"
1 hour ago
Greg replied to Randy's discussion Copter-3.3 beta testing
"Shaun, When you say land does that include the requirement to disarm to initiate the save?"
2 hours ago
Greg replied to Randy's discussion Copter-3.3 beta testing
"Stone, The wiki makes no mention of autotune now being a flight mode it still makes reference to ch7/ch8 so I don't think it covers it very well.   This information may be more accurate but I can't confirm…"
2 hours ago
Shaun Bell replied to Randy's discussion Copter-3.3 beta testing
"After autotune is completed: Land with autotune on and the settings are saved. Land with autotune off and the settings are discarded. Note that mission planner will tell you, "saving autotune". As for aggr..  Still not really sure.…"
4 hours ago
Stone1295 replied to Randy's discussion Copter-3.3 beta testing
" The wiki pretty well covers it.  I don't know about Autotune_AGGR though.  It recommends a range of somewhere between .10 and .05 though. -Mike "
4 hours ago
Greg replied to Randy's discussion Copter-3.3 beta testing
"Randy, Since the Wiki doesn't fully explain how to use the Auto tune in 3.3 could you please explain some things. I understand that it is a flight mode and needs to be entered from a single switch throw from AltHold? How does one save or…"
4 hours ago
Trent Russell replied to Randy's discussion Copter-3.3 beta testing
"Randy, et. al., I loaded up rc10 this afternoon coming straight from 3.2.1.  All went well, my only gripe is that the throttle modulation behavior in alt-hold is quite different.  On 3.2.1, throttle would gently increase/decrease as you…"
6 hours ago
Tobias Witting replied to Randy's discussion Copter-3.3 beta testing
"these threads are always long and hard to sift through if you are looking for something specific, but that applies to all forum/blog type discussions. I personally don't think the release cycle is that long given how many new features are…"
9 hours ago
Stephan replied to Randy's discussion Copter-3.3 beta testing
"Nathaniel, appreciate your reply and I truly respect all the good work of the developers and beta testers to create a high quality product. Please allow me to raise one observation after following this thread over the past months. In my view the…"
9 hours ago
Robert Baumgartner replied to Randy's discussion Copter-3.3 beta testing
"no idea sorry."
14 hours ago
Greg replied to Randy's discussion Copter-3.3 beta testing
"So is the two GPS issue solved in rc10 or is it safer to run with only one?"
14 hours ago
Artem replied to Randy's discussion Copter-3.3 beta testing
"A bit of a question here: has the way RSSI being reported in the mavlink been changed in 3.3? I have a strange issue when I setup up my RSSI pin 103 and range 3.3v MP shows correct rxRSSI, however minimosd shows constantly 0. I roll back to 3.2.1…"
14 hours ago
Craig replied to Randy's discussion Copter-3.3 beta testing
"Did you try doing a esc calibration after the update and before you changed you mot_spin?"
14 hours ago
Craig replied to Randy's discussion Copter-3.3 beta testing
"Great you found your issue. About the Wiki though, since it IS a Wiki you are free to sign up and make edits which frees up the devs time to actually do devvy working you know. Just saying."
14 hours ago
Gregmaan replied to Randy's discussion Copter-3.3 beta testing
"I found my mistake: From the wiki it is not clear if we must disable the mavlink heartbeat for using serial protocol. With the older versions it works with the enabled mavlink heartbeat. But with the newer storm versions you must disable it to get…"
15 hours ago

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

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 33 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 86 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…


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 242 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…


Comment Wall (28 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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