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Randy's Groups

Randy's Discussions

ArduCopter-3.2.1 Beta Testing

Started this discussion. Last reply by VP Kuisma 16 hours ago. 273 Replies

figuring out the Antenna Tracker

Started this discussion. Last reply by Doug Walmsley yesterday. 129 Replies


Welcome, Randy!

Latest Activity

Randy commented on Thomas Stone's blog post IR-LOCK Sensor for Precision Landing, etc
"@Thomas, that is looking really really good.  Congrats! P.S. as we type I'm working on some changes to get the irlock driver (written way back in Nov) into PX4Firmware branch."
3 hours ago

Randy commented on Bill King's blog post A New Singlecopter Airframe Support for Arducopter
"@Drone-University, they're not super popular frames but we should make them at least available as a binary in  I've added an issue to the issues list. …"
9 hours ago
VP Kuisma replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Has there been changes to loiter_turns mission command? Doc says there should be dir 1 parameter, but planner shows radius parameter. Seemed also that it actually changed the radius (understood it wrong at setup phase and set it to 360..). It was…"
16 hours ago
steve replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"3.2.1 is working great for me but I was curious what is next? What features are being added in the next version?"
21 hours ago
Doug Walmsley replied to Randy's discussion figuring out the Antenna Tracker
"What is the URL link to the videos?  I just installed a second GPS antenna on mine for testing.  I have both the LEA-6H and now the NEO-M8N connected.  I want to test whether having two is better than one and my Y6B is also using two…"
Keith G replied to Randy's discussion figuring out the Antenna Tracker
"For the moment I am tethered to the pc. But the tracker is using its own gps and compass so it can work without being connected to the computer at all but if I'm dragging a tracker to fly the laptop might as well come too. I have emailed a few…"
Doug Walmsley replied to Randy's discussion figuring out the Antenna Tracker
"Are you tethered to your GCS using a USB cable or are you using a second radio to remote connect to it?"
Doug Walmsley replied to Randy's discussion figuring out the Antenna Tracker
"I feel your pain.  I stopped for the moment any testing and tuning to my AT.  Too many to-do's right now.  Randy is the DEV for this, so I recommend pinging him for help.  I did post a request a month or so ago for Randy to…"

Randy replied to George Piper's discussion Uploading Problem w/ Programming APM2.5 using Arduino IDE
"I've checked a few of the links listed above and they seem to still work. "

Randy replied to Randy's discussion ArduCopter-3.2 beta testing
"Without a log it's hard to tell, but if it's the EKF complaining then the heading is likely incorrect which could be a compass issue.  There's some documentation about it here.  Turning the EKF is not a terrible idea if…"
TheMightyThor replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"What size battery did you have on this? i would think distance alone would tax the battery thus the first failsafe. or did you modify failsafe setting for a battery? thats really far to fly out of the line of sight to trust a battery or flight…"
Thomas Kranz replied to Randy's discussion ArduCopter-3.2 beta testing
"i'm having the same issue on 2 machines ! both pixhawk 100% reproducable in alt-hold or pos-hold, can someone explain what this Error exactly means ? Bad variance of what values ? any idea how to solve / debug it ? my solution at the moment is…"
Jean-Louis PERSAT replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Anyone knows why I've got a pre arm error with Check fence message ?"
Brad Roekle replied to Randy's discussion ArduCopter-3.2.1 Beta Testing
"Had an issue with an auto mission yesterday and thought I would bring it to someones attention. No crash but some weird things went on.  So basically if you look at this pic:  You can see that around the 5min mark the copter switched to…"
Keith G replied to Randy's discussion figuring out the Antenna Tracker
"I figured out the appropriate numbers to put in and now when the tracker Will pay him the full hundred and 80° which is great. However in auto mode the tilt or pitch, doesn't move at all. The pitch simply sits around the midpoint and is…"
lakeroe replied to Randy's discussion ArduCopter-3.2.1 Beta Testing

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 72 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 229 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 37 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 (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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