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Randy's Groups

Randy's Discussions

Copter-3.3 beta testing

Started this discussion. Last reply by Reuben 2 minutes ago. 322 Replies

ArduCopter-3.2.1 Beta Testing

Started this discussion. Last reply by Ravi on Wednesday. 578 Replies


Welcome, Randy!

Latest Activity

Reuben replied to Randy's discussion Copter-3.3 beta testing
"Hi guys .. I have just spent the last 4 hours testing the different radios with two AUAV X2 boards.. it does seem there is a difference, when using 3.1.5 it appears to connect the most reliably, i.e first go On UART2 (S1).. 3.2.1.and 3.3 I have to…"
2 minutes ago

William Premerlani replied to Randy's discussion Copter-3.3 beta testing
"Randy, No doubt EKF is well suited for handling GPS and baro glitches. However, regarding bad compass alignment, there is an extension to DCM that will handle compass misalignment just fine. Are you not using it? I also note in some of your…"
40 minutes ago
Pavel Kirienko replied to Randy's discussion Copter-3.3 beta testing
"I'm putting this answer here so everyone interested could see it. Here's the tutorial that explains how to make APM use UAVCAN-interfaced sensors, particularly Zubax GNSS."
1 hour ago
Tomi Mizya commented on Randy's group Japan ArduCopter Group
"選挙前の2週間前に発見してほしかったんですって。ザル警備の責任逃れのための問題すり替えでしかない。20年前のオウム騒ぎの時にも栃木くんだりのラジコンクラブにもオウムが大型ラジコンヘリを買ったとの情報をつかんで聞き込みに来てたのでそういう使われ方が出来るのは当たり前の話。想定外だったというのは全く言い訳にならない。 別の意味でも話題のFC2ブログ…"
1 hour ago

Rob_Lefebvre replied to Randy's discussion Copter-3.3 beta testing
"The problem is basically trying to walk the tightrope between EKF initialization being too strict and taking too long.  Or being too lax, and having bad initializations leading to potential crashes."
1 hour ago
Shad replied to Randy's discussion Copter-3.3 beta testing
"Upgraded to 3.3rc1 and it appears that the gimbal is not being controlled properly.  The Tarot gimbal on my 3DR Y6 works fine with 3.2.1 (RC tuning knob, ROI, etc), but the only time I can get it to move in 3.3rc1 is to hit the servo low/high…"
1 hour ago
Łukasz replied to Randy's discussion Copter-3.3 beta testing
"Exactly, it looks to me very strange and suspicious cyclically, as if something had ended and began, a filter, a loop program ?. Once again, I checked the drive, and it can not be a better balance, carbon frame, rigid, propeller only 12 inches,…"
3 hours ago

Thorsten replied to Randy's discussion Copter-3.3 beta testing
"Wow! This looks weird! This is very periodic. The question is where the vibes are shown more accurately: in the case of the peaks on in between? If it are the peaks the vibes would be much too high. Strange. Need to test rc1 asap."
4 hours ago

Hugues replied to Randy's discussion Copter-3.3 beta testing
"thx for the link, this looks interesting."
5 hours ago
DG replied to Randy's discussion Copter-3.3 beta testing
"Gervais, What telemetry radio are you using and which ports on your auav-x2 ? I have a RTFQ radio and can't connect using mavlink.....really frustrating."
6 hours ago
Craig Defleming replied to Randy's discussion Copter-3.3 beta testing
"Okay, so its been a rough week for my birds. Just had a crash on 3.3rc1 with a y6b. I was doing some fast circles when all of a sudden it went out of control and crashed to the ground. Looking at the logs I think I cracked/broke a prop in flight as…"
7 hours ago
Mike Dixon replied to Randy's discussion Copter-3.3 beta testing
"Sorry just noticed you're earlier comment - oops!"
9 hours ago
UAS_Pilot replied to Randy's discussion Copter-3.3 beta testing
"What if I am running 6v on the servo rails on a traditional heli. But the PixHawk is powered by the PM? Would this cause issue?"
11 hours ago
Mike Dixon replied to Randy's discussion Copter-3.3 beta testing
"@Randy  - Hi, thank you for the help the other day with vibrations, I replaced the FC mounting foam and it fly's just great! Are we likely to see RC2 this weekend? Cheers! Mike"
14 hours ago
gervais replied to Randy's discussion Copter-3.3 beta testing
"3DR Telemetry (at least the original one V2) is working with both versions. Some guys reported, that it sometimes is required to re-power the unit, to get a connection. But I doubt,that the FW is responsible for this. Downgrade to 3.15 to verify…"
15 hours ago
Marc Donadiós Garriga left a comment for Randy
"Hi Randy, I'm trying to add variable ESC's to a hexacopter in order to go down very fast. The problem is when I try to arm. I need to change the code in order to arm with the joystick in the center-right instead of down-right.What I…"
16 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 3.2.1 released

Posted on February 11, 2015 at 1:00am 76 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 236 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 (27 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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