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  • Tianyuan Xiang
  • Lawrence Dennis
  • CropHawk
  • Airbot
  • Erick MEdina
  • Andrew Crinson
  • Dmytro Dvornichenko
  • Yaser Alipour
  • Petr Zverina
  • Konstantin Romanov
  • Eric_Chen
  • Antonis konstas

Randy's Groups

Randy's Discussions

PixRacer with Ardupilot

Started this discussion. Last reply by Scott W 5 hours ago. 614 Replies

Ardupilot on QC Snapdragon

Started this discussion. Last reply by David Ahlgren Mar 10. 3 Replies

Pixhawk 1MB flash limit

Started this discussion. Last reply by Cool Dude 4 hours ago. 82 Replies


Welcome, Randy!

Latest Activity

Hugues replied to Randy's discussion figuring out the Antenna Tracker
"For info I posted a topic here : asking how SITL could replace a real vehicle in this schema to test a real antenna tracker…"
4 hours ago
Cool Dude replied to Randy's discussion Pixhawk 1MB flash limit
"Has someone installed Banggood 2.4.8 pixhawk in a plane/Copter to verify if this really works. All my boards are from 3DR except one which I got from hobby king. Sometimes when I am downloading the log files it gets stuck on certain logs. If I…"
4 hours ago
Scott W replied to Randy's discussion PixRacer with Ardupilot
"And something I think anyone can do to see the issue... Start in stab, increase your throttle a little... to the point the copter is lighter, but still touching the ground. and ptich forward.. You'll scoot along the ground whatever way you tell…"
5 hours ago
Scott W replied to Randy's discussion PixRacer with Ardupilot
"Thanks!  that was my next step is posting there.. But I want to get another log first, which a few people have asked me to do.  it's just been raining, and it's scary to do this :)..  If I do it close to the ground,…"
6 hours ago
Fnoop replied to Randy's discussion PixRacer with Ardupilot
"Hi Scott, if this isn't pixracer specific, and you're flying master, then this is probably the best place to report it: Thanks on behalf of the rest of us for finding out the crashing bugs…"
6 hours ago
Scott W replied to Randy's discussion PixRacer with Ardupilot
"Yes..  And even w/ it being too low.. Like, at mid throttle it doesn't lift off, it still has the issue.. "
6 hours ago
Luc Maximilien replied to Randy's discussion PixRacer with Ardupilot
"Hi, did you calibrated the throttle Mid ?"
6 hours ago
Scott W replied to Randy's discussion PixRacer with Ardupilot
"Are you sure that's the GPS bug, and not the bug I have, where my throttle is apparently too low for the flight controller to become active when in alt_hold or any autopilot assisted mode?Allen said his desired roll didn't show any input,…"
6 hours ago
Dmitry Prokhorov replied to Randy's discussion Pixhawk 1MB flash limit
"Could you pls to explain what exact components are missing? How you can see it?"
9 hours ago
Allen Merrell replied to Randy's discussion PixRacer with Ardupilot
"Thanks Michael, I was checking in the ATT at Roll and Desroll and could not understand at the point that I went into althold it was not showing my input to correct it or this is what it looked like to me this is why I wanted you guys to look at the…"
10 hours ago

Randy commented on Thomas Stone's blog post GPS-denied Position-hold w/ 3DR Solo
"Actually I had a quick look at the logs and it's certainly not an RC input issue.  The EKF's yaw estimate is drifting.  Paul Riseborough (if he's got time) might be able to provide some advice.  Alternatively we could…"
10 hours ago

Randy commented on Thomas Stone's blog post GPS-denied Position-hold w/ 3DR Solo
"Looking good!  the yaw is a bit weird... maybe the RC input is not exactly at the mid point?"
10 hours ago
Michael Burmeister replied to Randy's discussion PixRacer with Ardupilot
"You ran into the AHR2 bug that causes the copter to fly away when the GPS becomes stable.  At 20 I can see from the logs the large roll right caused by the GPS drifting in the opposite direction. The LED's on the Pixracer are still not…"
11 hours ago
Emin Bu replied to Randy's discussion Copter-3.3 beta testing
"Can we finally have Copter 3.4?will that ever go out?...or is it 3.5 already?"
13 hours ago

Randy replied to Shahrukh Ashraf's discussion Use Pixhawk to make boat capable of auto navigation using two DC motors in the group ArduBoat User Group
"Shahrukh, Yes, I think it should be possible APMRover2 (aka ArduRover, aka Rover) can apparently be used for boats and the skid steering (used for rovers with two tracks like a tank) should work I would have thought.  Grant Morphet is our Rover…"
16 hours ago
Allen Merrell replied to Randy's discussion PixRacer with Ardupilot
"I had a chance to try my ZMR250 with pixracer today and thought I would use Auto Trim since it was drifting forward a little. I could not get the flashing lights to let me know it was ready, anyone else tried it. Also when I switched from stable to…"
22 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

Copter-3.3 released!

Posted on October 8, 2015 at 9:58pm 80 Comments

After months of testing by the beta-testing team and no significant issue during the soft release, Copter-3.3 has been released.  You can load this version onto your vehicle using the…


Copter-3.3 ready for wider use

Posted on September 28, 2015 at 7:18pm 82 Comments

After months of testing by the beta-testing team, Copter-3.3 is ready for wider use.  Similar to the Copter-3.2 release this is a "soft launch" meaning that for the next couple of weeks, we are asking users to load the new version using the Mission Planner's "Beta firmwares" link…


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 36 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 95 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…


Comment Wall (32 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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