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Randy's Groups

Randy's Discussions

Copter-3.3 beta testing

Started this discussion. Last reply by paul riseborough 2 hours ago. 254 Replies

ArduCopter-3.2.1 Beta Testing

Started this discussion. Last reply by Cala Apr 13. 575 Replies


Welcome, Randy!

Latest Activity

paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Doug, Looking at the log, you took off before the EKF had started using GPS, which means we need to fix the tones so they only sound when the GPS is being used, not when it first gets lock. The GPS started being used pretty much when you had…"
2 hours ago
Doug Walmsley replied to Randy's discussion Copter-3.3 beta testing
"I performed all axis test individually and the image above shows the end product. "
3 hours ago
Doug Walmsley replied to Randy's discussion Copter-3.3 beta testing
"Randy, Today I flew the Y6B in Loiter more for most of the flight.  There was a small breeze with minor gusts. I powered up the drone and let it sit until I heard the GPS tones, then lifted off initial in Alt Hold but noted it was drifting so I…"
3 hours ago

Rob_Lefebvre replied to Randy's discussion Copter-3.3 beta testing
"Sorry for the messy post guys, I'm trying to work out some internet problem on my computer.  I'll fix this up so it makes sense when I can."
7 hours ago
Randy Bachtell replied to Randy's discussion Copter-3.3 beta testing
"@Randy Right you are.  I had a heck of a time and could not get a screen shot so I copied the results to a word file and pasted here.  I did not copy all of the esc data but the gnss is all here.  The indicator led's on the Zubax…"
8 hours ago

Rob_Lefebvre replied to Randy's discussion Copter-3.3 beta testing
"It should be fairly easy to get this working unless you have a setup that I have not considered. You want to set your Ch7_OPT (or whichever channel you want) to 29.  29 will not show up in the Mission Planner parameter description until this…"
8 hours ago
Emin Bu replied to Randy's discussion Copter-3.3 beta testing
"thx for clarification..."
9 hours ago
Emin Bu replied to Randy's discussion Copter-3.3 beta testing
"I overlooked "brand new " part..i always wondered how to prove that is not your fault and return them back.."
9 hours ago
Nathan Maresch commented on Randy's blog post ArduCopter 3.2 Released
"Thank you for posting these release summaries!  It seems they sometimes have much more info than the official release notes textfile (for example, this is the only place I could find reference to dropping support for NMEA GPS on ardupilot -very…"
9 hours ago
Patrick Blackman Sphaier replied to Randy's discussion AC-3.1 autotune support discussion
"Hi Leonardthall, I found the logs from the previous occurrence of the same issue.  There is also a video from the moment auto-tune lost control of the copter. I was lucky that day and could regain control of it. "
10 hours ago
Pomaroli replied to Randy's discussion Copter-3.3 beta testing
"Paul, what about GPS Glitch and Baro Glitch are thesy active in EKF and will they also trigger for manually modes like stabilise ? For me it is tipical that the Home Position is there were the GPS signal is gainned. This will be the same for all…"
10 hours ago
juan jose casto moreno replied to Randy's discussion Copter-3.3 beta testing
"If they arrive.regards"
10 hours ago

paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"Juan, Are you able to post a flash log?  Thanks, -Paul"
11 hours ago

paul riseborough replied to Randy's discussion Copter-3.3 beta testing
"When GPS isn't available or of sufficient quality, the EKF stays in a mode where it provides attitude and height outputs only (unless optical flow is being used). The type of output it is able to provide is indicated to the rest of the software…"
11 hours ago
DG replied to Randy's discussion Copter-3.3 beta testing
" "Brand new fresh charged", meaning just that;  I just received it in the mail Friday and balance charged before flying on Saturday. So one flight and one cell, possibly two, will not charge over 4v.  I use an iCharger 206B…"
12 hours ago
Andrei replied to Randy's discussion Copter-3.3 beta testing
"Yeah, I also noticed EKF warnings. On ground, immediately after arming I get "EKF variance". Do you get the same?"
12 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 (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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