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Randy's Groups

Randy's Discussions

PixRacer with Ardupilot

Started this discussion. Last reply by Richard Kennedy 9 hours ago. 866 Replies

Ardupilot on QC Snapdragon

Started this discussion. Last reply by Randy 1 hour ago. 5 Replies

Pixhawk 1MB flash limit

Started this discussion. Last reply by Mark Brummett May 11. 85 Replies


Welcome, Randy!

Latest Activity

Randy replied to Randy's discussion Ardupilot on QC Snapdragon
"Unfortunately you can't directly connect regular ESCs directly to the flight controller board because it doesn't have pwm output (or input for that matter) so instead you need to attach a board to do the serial -> pwm conversion. …"
1 hour ago
Johnex commented on Randy's blog post Copter-3.4 beta testing starts
"Randy is EKF2 enabled by default or do we need to enable it?"
6 hours ago
Richard Kennedy replied to Randy's discussion PixRacer with Ardupilot
"Yes I noticed the same thing. very strange... I thought I needed to tweak the PIDS on the yaw or something. It just seemed to have less control over itself with yaw. I turned off EKF2... seemed better but I sort of lost track what all I did.…"
9 hours ago
SANGYUN HWANG replied to Randy's discussion Ardupilot on QC Snapdragon
"Hello Randy. Is it possible to use SnapDragon With Simonk or BHeli ESC Boards? Or does it only need to use the Qualcomm® Electronic Speed Control (ESC) board?"
9 hours ago

keeyen pang commented on Randy's blog post Copter-3.4 beta testing starts
"This release include traditional heli. I really wish some one can up date the wiki and provide more info especially in the set up and tuning. I try with my old Trex 450 fly bar with APM 2.7. I manage to tune the rate P of all three axis. I can hover…"
10 hours ago
titeuf007 commented on Randy's blog post Copter-3.4 beta testing starts
"it s a good news randy for all pixracer buyers. "
11 hours ago
Thomas Stone commented on Randy's blog post Copter-3.4 beta testing starts
"Yay! We will test the Precision Landing feature to ensure everything is still A-ok. "
11 hours ago

Stephen Zidek commented on Randy's blog post Copter-3.4 beta testing starts
"I hope I get the chance to build a tube-launch quad.  Nothing says deployability quite like "FMMMMP ........ whrrrrrrrrrrrr.""
11 hours ago
Scott W replied to Randy's discussion PixRacer with Ardupilot
"Thorsten, It's usually just a few or maybe 10 degrees.  I really don't think it's the vibes and dirt, etc..  If it is, that's a problem, too!!  It worked fine w/ 3.3.. and on a racer, chipped props, mud, etc, will…"
11 hours ago

Randy commented on Randy's blog post Copter-3.4 beta testing starts
"@titeuf007, Thanks for your support!  Getting ardupilot working well for the pixracer was quite difficult but I think we've got it pretty much sorted out now.  In the last two weeks, Tridge in particular, has put a fair bit of effort…"
12 hours ago
titeuf007 commented on Randy's blog post Copter-3.4 beta testing starts
"thanks randy for you reply my english is not perfect so sorry if we question is not well made i love this project and i fly only with pixhawk..i am intend to buy the new xiaomi drone because i am fan boy from all their product ...but anyway i am…"
12 hours ago
Tom commented on Randy's blog post Copter-3.4 beta testing starts
"nice, known bugs also in the forum?"
13 hours ago

Randy commented on Randy's blog post Copter-3.4 beta testing starts
"@Antonio, I'm afraid although, like Copter-3.3.3, we allow two GPSs to be attached, We still don't recommend it because the item to remove the jump when it switches GPSs hasn't been completed yet."
14 hours ago
Antonio Vigoni commented on Randy's blog post Copter-3.4 beta testing starts
"Nothing about integration of second gps? "
15 hours ago

Randy commented on Randy's blog post Copter-3.4 beta testing starts
"@titeuf007, There are several safety improvements including the two listed above and we're always very careful with each release to ensure it's properly tested (which is why we're doing this beta testing) but are there any particular…"
16 hours ago

Randy commented on Randy's blog post Copter-3.4 beta testing starts
"@Muscate, Leonard Hall is really the expert but it looks to me like we now proactively account for the change in vertical and rotational thrust as the tail servo leans the rear motor.  In earlier versions of the software I think it was more of…"
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

Copter-3.4 beta testing starts

Posted on May 30, 2016 at 10:30pm 14 Comments

Copter-3.4-rc1 has been released for beta testing and can be downloaded using the Mission Planner's Install Firmware screen's beta firmware link.  Some of the changes since Copter-3.3.3 are listed below.

1) EKF2 allows "boat mode" (attitude initialisation without gyro calibration)

2) …


Terrain Following Missions using Lidar

Posted on May 13, 2016 at 11:30pm 24 Comments

The upcoming Copter-3.4 release will include terrain following support for mission commands using either Google earth altitude data or a Laser Range Finder.  This is a demonstration video shot at a ski hill near my home in Karuizawa Japan of this new feature.

For this test I used a venerable 3DR IRIS with a …


Copter-3.3 released!

Posted on October 8, 2015 at 9:58pm 81 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 (…


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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