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Randy's Groups

Randy's Discussions

ArduCopter-3.2.1 Beta Testing

Started this discussion. Last reply by Andy Piper 26 seconds ago. 494 Replies

figuring out the Antenna Tracker

Started this discussion. Last reply by Christian Thalhammer yesterday. 145 Replies


Welcome, Randy!

Latest Activity

Andy Piper replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"At a guess I would say you are using channel remapping (since you are using a D8) and that is the problem you are seeing. There is a huge problem here. If you look at the logs you will see the roll go hard over and stay there when you raise the…"
26 seconds ago
Johann Bruwer replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Has anyone found a workaround for the pitch drift problem? It really is a huge problem in this release. I have a spectrum d8 radio. Y6B large drone with 810 frame and 16" props. Very powerful machine. I can take off after I connect the…"
10 minutes ago
Richard Kennedy replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Thanks for the advice. But I guess I will have to start all over and reset. I set the value at -10 and re-did the radio calibration. No joy..."
5 hours ago
Richard Kennedy replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"I can't wait for that to be possible!! I  think one major issue with flight problems is the bloody compass. It doesn't like being by electronics. What part of our machines don't have electronics!  If we could have two…"
5 hours ago
Rob Ratcliff replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"I tried this test out with 3.2.1 on my APM with a Spektrum AR5200 receiver and DX7 Transmitter. It responded correctly by setting rc3 to 900 when the R/C transmitter was turned off. Has anybody with a Pixhawk seen the behavior described above where…"
6 hours ago

Randy commented on Víctor Mayoral's blog post PixHawk Fire cape crowdfunding campaign
"Victor, Nicely done.  In the dev team I think we've found the timing on this board is totally fine.  I'm sure it will fly arducopter, arduplane, etc a-ok.  We on the dev team are very keen for the production of more Linux…"
10 hours ago
Rob Ratcliff replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"I posted this on the other related thread, but haven't heard back: I've done tests with 3.2.1 and 3.3…"
14 hours ago
oomori kazuhiro commented on Randy's group Japan ArduCopter Group
"今日 行きつけの模型店で enrouteの通販問題を知らせたところ さっそく 店主が電話してました その結果 webではそう書いていますが 実は通販はいくらかするそうです ただし発送は週1回土曜日のみで どうも通販量を減らすのが目的らしいです  ---------------------------------------------------------------  LOITERモードでは 送信機から操縦ができるため(動きは緩慢ですけど・・) またLANDモードでも調整ができるパラメーター…"
16 hours ago
Emin Bu replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Also I have another question;i can see in mission planer full para. list there is address for 3 compass...does this mean we can connect compass from second GPS as well?if not,when it will be possible?"
18 hours ago
Raj Desai left a comment for Randy
"Hi Randy, I am trying to build a single copter like Bill King's model but using a Gas engine. I saw your comments on Bill's post and it would be a great help if you could help me out with my queries. My discussion is…"
18 hours ago
Emin Bu replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Hello... what is Test: PM = FAIL - 16 slow loop lines found, max 11.85% on line 6761 from auto analyzer Test: Autotune = UNKNOWN - No ATUN log dataTest: Balance/Twist = GOOD - Test: Brownout = GOOD - Test: Compass = GOOD - mag_field interference…"
18 hours ago
Jiro Hattori commented on Randy's group Japan ArduCopter Group
"皆さん、果敢にAuto mode を使われていますね。 当方の飛ばしている所は、木が多いので怖いです。 LIDAR Lite とかノイズ対策が済んでAC3.3でのサポートが行われれば、衝突回避に期待が出来ると思います。 思ったような性能の出ないY6をX8するための部品が、enRoute から到着しました。これで最終。。?"
19 hours ago
kazuaki F commented on Randy's group Japan ArduCopter Group
"Autoモードでの衝突は何回か経験して、次の様な教訓を得ました。 1:飛行前に衛星画像で、高層物がないか確認 2:飛行区域の状況を飛行前に事前確認 3:やむを得ず高層物を通過する場合は、機体を10m以上離してコースや高度を設定 4:高層物と機体コースが確認できるポイントで監視員を配置 で対応してます。 衝突しそうな場合は、即「Loiter」か「AitHolt」に切り替えて機体をホバーリング状態にします。機体速度が50cm/s程度なら、即停止します。 超音波センサーで障害物を回避する仕組みを一時期…"
21 hours ago
Christian Thalhammer replied to Randy's discussion figuring out the Antenna Tracker
"We are talking about "Antenna Tracker" where UART2 (telem2) is prepared for a second radio (also on APM2.X boards). Having bluetooth und telem2 and 3DR radio on telem1 works like a charme on my  APM 2.x. The problem is the other way…"
oomori kazuhiro commented on Randy's group Japan ArduCopter Group
"こんにちわ みなさん 前回は拙い質問の答えをいただきありがとうございました hattoriさん AUTOパイロットをいろいろ試してますけど・・・・ 気になった点があります 3つ前のyoutubeのはAUTO途中に高い木にぶつかりました このようなときはスタビモードに切り替えて手動で回避するしか手がないのですかね?  RTLを試した時などHOME位置が数メートルずれるのは結構あります LANDのときや AUTOモ…"
Phill Simpson replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Mike, The restriction of needing a Waypoint command with at least a one second delay after a "DO" command has been around for quite awhile. I ran into it back in the previous version. It gets even more interesting if you try to do other…"

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 3.2.1 released

Posted on February 11, 2015 at 1:00am 75 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 230 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 226 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 38 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…


Comment Wall (26 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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