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Randy's Discussions

figuring out the Antenna Tracker

Started this discussion. Last reply by Doug Walmsley 13 hours ago. 53 Replies

ArduCopter-3.2 beta testing

Started this discussion. Last reply by Larry Field 11 minutes ago. 3466 Replies

ArduCopter-3.1 released!

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


Welcome, Randy!

Latest Activity

Larry Field replied to Randy's discussion ArduCopter-3.2 beta testing
"I have been running FW 3.1.5 for some time with no problems. Updated to FW 3.2, now accelerometers will not calibrate.  Any suggestions?  Larry"
11 minutes ago
Erwin Quilloy commented on Randy's blog post ArduCopter 3.2 Released
"i have just uploaded AC3.2 again, and it seems to work well :) no issues on arming and booting. I cant' wait to test this new firmware outside :)"
1 hour ago
Julien Dubois replied to Randy's discussion ArduCopter-3.2 beta testing
"Could you please post a log."
1 hour ago

Rob_Lefebvre commented on Randy's blog post ArduCopter 3.2 Released
"Most gimbals are usable.  At this point, there is just a simple PWM interface, which most gimbals are already designed to accept."
1 hour ago
Vinnie Tsoi commented on Randy's blog post ArduCopter 3.2 Released
"@Dharmik Dave, I commented on this yesterday too.  I have APM 2.5 on my Steadidrone that I updated to 3.2RC and GPS stopped working with high HDOP.  Randy commented back that it should reprogram, but does not seem to be the case on…"
1 hour ago
Steve Mitton commented on Randy's blog post ArduCopter 3.2 Released
"What kind of gimbals useable with Pixhawk? "
1 hour ago
Erwin Quilloy commented on Randy's blog post ArduCopter 3.2 Released
"Got the problem isolate. It seems that after I flash my apm's firmware to AC3.2, I got issues with my ESC. but not because of the AC3.2, I tried going back to 3.15, then factory reset to erase everything on the APM. Then the esc is back to…"
1 hour ago
Henri replied to Randy's discussion ArduCopter-3.2 beta testing
"Not sure.. Pixhawk and v3.2 with EKF on, testing on a quad. Stabilize, Alt hold, Loiter and RTL are almost perfect. As soon as Pos hold is engaged, the quad goes east direction like if on a mission..?   So in short even auto land is virtually…"
2 hours ago
Dharmik Dave commented on Randy's blog post ArduCopter 3.2 Released
"i have flashed arducopter 3.2 firmware on my APM 2.6 with NEO 6M GPS and compass but since the new firmware loaded GPS not working. i don't see blue LED on APM, when i flash old firmware 3.1.5 GPS starts working again. Can anybody tell me how…"
2 hours ago
Denny Rowland commented on Randy's blog post ArduCopter 3.2 Released
"@leonardhall OK I'll give that a try. Should be interesting."
3 hours ago

leonardthall commented on Randy's blog post ArduCopter 3.2 Released
"Hi Denny, Hit it with autotune. You shouldn't have a problem."
4 hours ago
Denny Rowland commented on Randy's blog post ArduCopter 3.2 Released
"One of the effects of having this arrangement is that the lower motors are running faster and at a lower angle of attack, this also reduces the tip vortices which act at the farthest distance from the shaft and therefore sap less power. "
4 hours ago
Julien Dubois replied to Randy's discussion ArduCopter-3.2 beta testing
"Could be as well a power issue. Check your esc settings and ensure they battery_type is set as Ni-xx instead of LiPo"
7 hours ago
Denny Rowland commented on Randy's blog post ArduCopter 3.2 Released
"I would describe the general flight experience as having a crisp response which I quite like, in comparison to most of the DJI stuff. "
7 hours ago
Denny Rowland commented on Randy's blog post ArduCopter 3.2 Released
"Hi Guys My X8 is improving all of the time and I must say that Pixhawk 3.2 is in IMHO well ahead of DJI's A2. in terms of value for money and performance. (the initial A2 releases were a disaster) I am really so pleased with how it has been…"
7 hours ago
Julien Dubois replied to Randy's discussion ArduCopter-3.2 beta testing
"Alex, from your log, the roll starts decreasing (negative value) from line 7500. That means the copter goes left. And, immediatelly, the motor's output 1 and 3 decrease, the motor 6 increases. If your hardware configuration is the new Y6B…"
7 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

ArduCopter 3.2 Released

Posted on November 24, 2014 at 8:56pm 53 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 191 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…


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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