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Randy's Groups

Randy's Discussions

figuring out the Antenna Tracker

Started this discussion. Last reply by Javier Diaz Aug 7. 7 Replies

ArduCopter-3.2 beta testing

Started this discussion. Last reply by Robert Baumgartner 54 seconds ago. 1348 Replies

ArduCopter-3.1 released!

Started this discussion. Last reply by TheMightyThor Aug 18. 1509 Replies


Welcome, Randy!

Latest Activity

Robert Baumgartner replied to Randy's discussion ArduCopter-3.2 beta testing
"Randy, Thanks a lot, crystal clear, great job. Attached video of my mini quad with mini APM and RC6 Best Regards RB "
54 seconds ago
Artem replied to Randy's discussion ArduCopter-3.2 beta testing
"here it is. pls let me know if you think this is a board's fault..  but so far, flew great 3 full batts,  on the 4th batt, I parked it in a tree again, this time the tail servo got damaged, so now there is a little play in the gears…"
6 minutes ago

Thorsten replied to Randy's discussion ArduCopter-3.2 beta testing
"Hi all, I am having some problems with AltHold/PosHold (Ac3.2rc6). The copter loses altitude while moving:  I am not sure if this is related to 3.2 and/or rc6. However, it is the first time that it is that dramatic. So I think I have to play…"
20 minutes ago
Rana replied to Randy's discussion ArduCopter-3.2 beta testing
"I have just come after doing three test flights today with Arducopter 3.2_RC5 and Droidplanner 2 Beta (Latest). It was really great performance all together. My observations during these test flights as as follows; When doing Follow-me, the quad was…"
1 hour ago
steve replied to Randy's discussion ArduCopter-3.2 beta testing
"I tested rc5 today on my cinetank. I'm using APM2.6 with onboard mag but I have it on the top layer. Probably not far enough though. My compass_mot XYZ is -0.464 0.067 and 1.302 It says in the instructions that it should be within 30%. So my z…"
1 hour ago
TheMightyThor replied to Randy's discussion ArduCopter-3.2 beta testing
"Randy is this related to a specific setup that makes this drop out occur? Specific ESCs or equipment? or is this generally just part of the firmware that strikes with impunity? is it APM AND PixHawk or just one of them? thanks in advance"
3 hours ago
Sven replied to Randy's discussion ArduCopter-3.2 beta testing
"Randy, I have flashed 3.1.5 and then again 3.2-rc6 and re-do compass calibration 3 times.Same Problem COMPASS_DEV_ID now is 73225 and COMPASS_DEV_ID2 now is 131594and the Warning PreArm: compasses inconsistent. Thosten is your ID2 now -1 ?"
4 hours ago
Martin replied to Randy's discussion ArduCopter-3.2 beta testing
"Hi Randy, which firmware RC did the false positive landing detector start in. Just dawned on me that a copter in loiter in very strong lifting air (sloper soaring) might be subject to it ? Martin"
4 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Luis,      You'll see some new features at least (like spline).  If you're in no rush, I'd recommend waiting for -rc7 this weekend which will resolve the "false-positive landing check" issue."
6 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Doug, Ok, slightly interesting to look at.  Your main GPS is performing far better than the one plugged into Serial 4/5.  To the point where I'm sure the one on Serial 4/5 is not adding value (at least in this log). Comparing HDop and…"
6 hours ago

Thorsten replied to Randy's discussion ArduCopter-3.2 beta testing
"Randy, after a new compass calibration I had no problems (tested Stabilize, PosHold, RTF, Autotune). "
6 hours ago

Randy commented on Chris Anderson's group ArduCopter User Group
"@Austin, Make sure that on the MP's radio calibration screen, the green bar for the pitch moves in the opposite direction to the physical stick on your transmitter.  If it moves the wrong way, fix it in the transmitter not by adjusting any…"
6 hours ago

Randy replied to Ben Snyder's discussion SPLASH DOWN in the group ArduCopter User Group
"It's actually possible to set the battery failsafe to RTL.  This feature is sadly not visible in the mission planner's battery failsafe setup page nor is it documented on the wiki page. I'll fix the wiki page.  Until then,…"
6 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Sven,      I also noticed that the dev id for the internal compass has changed from -1 to 131594 and it appears to be a side-effect of fixing the compass device id initialisation issue.  I think the best thing to do is to go…"
6 hours ago
Richard Kennedy replied to Randy's discussion ArduCopter-3.2 beta testing
"Its a good thing your not human thus require no sleep"
6 hours ago

Randy replied to GocGoc's discussion PixHawk 3.1.5 1300mm Quad mapping mission crash on climb out.
"GocGoc, I think we can't see everything in the log.  In particular we're missing the acceleration which is what the lowest level of the althold controller uses (if IMU was enabled we would see it but that puts a heavy load on the…"
6 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

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 30 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…


Dropping a Rover from Hexacopter - Part II

Posted on March 15, 2013 at 12:32am 14 Comments

As a follow up to an indoor test we did a about a month ago (blog post here), Assistant Professor Nagatani-san of Tohoku University, Izu-san of…


Comment Wall (23 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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