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Randy's Groups

Randy's Discussions

figuring out the Antenna Tracker

Started this discussion. Last reply by iskess Oct 11. 39 Replies

ArduCopter-3.2 beta testing

Started this discussion. Last reply by Graham Dyer 14 minutes ago. 2753 Replies

ArduCopter-3.1 released!

Started this discussion. Last reply by Bill Isenberger on Sunday. 1530 Replies


Welcome, Randy!

Latest Activity

Graham Dyer replied to Randy's discussion ArduCopter-3.2 beta testing
"Randy, I tried an Auto mission but it was awful, mission height was 20m but the quad zoomed up to 60m by the 3rd waypoint after flooring the throttle. It seems that if my z-vibrations deviate slightly the quad goes completely out of control…"
14 minutes ago
Manu B replied to Randy's discussion ArduCopter-3.2 beta testing
"Hi, If you dont arm the copter or the copter think it is landed, parachute will not release and message is "too low". Try arming the copter and raise it a bit if your baro drifts"
20 minutes ago
Esteban Jaramillo replied to Randy's discussion ArduCopter-3.2 beta testing
"So can you connect directly without the resistor or capacitor?"
1 hour ago
Stéphane replied to Randy's discussion ArduCopter-3.2 beta testing
"Hi, I'm trying to manually deploy a parachute with Ch8 to test it before takeoffCHUTE_ALT_MIN is set to zeroBut I get a message "Parachute: Too Low" "
2 hours ago
Tobias Witting replied to Randy's discussion ArduCopter-3.2 beta testing
"4.7k resistor (in the positive=signal line on the receiver side) and 10uF capacitor (bridging ground and signal after the resistor). See here also to get an idea about the wiring with a nice…"
2 hours ago
KiwiHC16 replied to Randy's discussion ArduCopter-3.0.1 released!
"That's it. I just had the issue. I removed all possible option in the APM_Config.h and it goes into the APM. Thanks Randy."
4 hours ago
Vishakh Nair replied to Randy's discussion ArduCopter-3.2 beta testing
"Hi Today had an unexpected RTL due to throttle failsafe but RcIn on CH-3 doesnt dip below the threshold. So why did it switch to RTL? I have programmed RTL switch on ch 8 and it seems to work fine too. FYI Firmware was arducopter 3.2RC-12,radio was…"
4 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Pomaroli, No I didn't check with Acro Trainer, I'll give that a try. I've found and fixed the CH6 tuning for wp-speed and it'll go out with -rc13.  Thanks for that report!"
5 hours ago

Graham Dyer replied to Randy's discussion ArduCopter-3.2 beta testing
"Thanks Randy, is there anything else I can do to mitigate this type of occurrence? Have had a few flights now with different damping mounts for the Pixhawk with no problem so far but would really like to avoid a re-occurrence, not good for my heart…"
5 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Graham, Comparing the Alt from AHRS2 (EKF) and CTUN (DCM) it looks like even the EKF would have had a hard time (both show a massive drop in altitude).  Still, I suspect the EKF would have handled it a little better and also the EKF is able to…"
5 hours ago
Brian Sigmon replied to Randy's discussion ArduCopter-3.2 beta testing
"I started working with this last night.  I didn't add a filter and things seem to be working - this matches the current documentation that RSSI PWM can be read directly.  I'll test range today to ensure RSSI works…"
7 hours ago
Alex O. replied to Randy's discussion ArduCopter-3.2 beta testing
"I watched the old video (first link). I am a bit confused. Is this entirely an auto mission from take off to land? The chopper was moving so fast, turns were so quick. It just look to me that someone is flying it. I generally watch multicopter…"
7 hours ago

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Edgar, I've tested leaning the vehicle during take-off (in the simulator) and it's uncovered another potential issue.  The issue is that the lean angles of the vehicle are captured at the moment the vehicle is switched into AUTO…"
10 hours ago

Graham Dyer replied to Randy's discussion ArduCopter-3.2 beta testing
"Motors seem OK so far, how would I check for sync issues? The vibrations before and after are well within limits, just that weird section. I'm also trying different Pixhawk mounting insulation to see if there's a difference."
10 hours ago
Manu B replied to Randy's discussion ArduCopter-3.2 beta testing
"If I am right you have 3g in Z and up to 2g in X axis. Have you check you don't have sync issue on your motors?"
10 hours ago
Paul Hammond replied to Randy's discussion ArduCopter-3.2 beta testing
"Now that is scary!"
10 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 32 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 (24 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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