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Randy's Groups

Randy's Discussions

ArduCopter-3.1 released!

Started this discussion. Last reply by Dave 8 hours ago. 1140 Replies

Running SITL on Windows

Started this discussion. Last reply by Randy Mar 23. 33 Replies

AC-3.1 autotune support discussion

Started this discussion. Last reply by Facundo on Monday. 541 Replies


Welcome, Randy!

Latest Activity

Randy commented on Dennis Okeefe's blog post Arcturus Jump - Piccolo autopilot using Latitude Engineering’s Hybrid-Quadrotor technology
"Tridge and I discussed this a couple of days ago and I think we came to the conclusion that the Quadshot was the platform that we would most want to start with. If I were to do this work, i would start with the quadcopter code ('cuz that's…"
1 hour ago

Randy commented on Benoit Pereira da Silva's blog post The "Walking with a drone project" is seeking a drone constructor partner
"Julien definitely knows his way around the arducopter code.  He (along with Sandro T) have developed the new hybrid mode that will appear in AC3.2.  So I'm sure you'll come up with something good.  Looking forward to seeing…"
6 hours ago
Dave replied to Randy's discussion ArduCopter-3.1 released!
"I am getting the same error in mission planner"
8 hours ago
Weidan replied to Randy's discussion ArduCopter-3.1 released!
"Thanks a lot! Clearly, Pixhawk will take the roles!"
8 hours ago
Masafumi Miwa commented on Randy's group Japan ArduCopter Group
8 hours ago
Artem replied to Randy's discussion ArduCopter-3.1 released!
"another point to read release notes:  warning#1   what I thought were sync issues with me going up in lipo count was actually APM setting all motors low..... 2 times it dropped from the sky and I switched motors at the same time updating…"
10 hours ago
Andre Kotze replied to Randy's discussion ArduCopter-3.1 released!
"Same here..."
12 hours ago
Harley Engholm replied to Randy's discussion ArduCopter-3.1 released!
"I get the same messages."
12 hours ago

Marco Robustini replied to Randy's discussion ArduCopter-3.1 released!
"I think this "twitching" is normal because there's a sorta of "virtual switching" from an alt-hold controller to position hold and viceversa.But there's some evolution inside the code now, stay tuned for the official…"
12 hours ago

Marco Robustini replied to Randy's discussion ArduCopter-3.1 released!
"Of course, 3.2 support APM 2.x but without the EKF."
12 hours ago
TheMightyThor replied to Randy's discussion ArduCopter-3.1 released!
"Have an Error On the New mission Planner 1.30 RC_FEEL_RP Not Found or Failed, didnt get this in 1.2.99. what is it? Also i get a message that says, there are no Min Max Settings or something like that in Mission planner 1.30?? anyone else…"
13 hours ago
Andre Tanuwijaya replied to Randy's discussion ArduCopter-3.1 released!
"@weidan i think fw3.2 and so on will always support apm 26. Because apm 2.5 and 2.6 was basically same only with and without internal compass.. another story if compare with pixhawk.. *correct me if im wrong."
15 hours ago
Weidan replied to Randy's discussion ArduCopter-3.1 released!
"Marco, thank you for your replying. I have another question about the fw 3.2. Will it support APM 2.6? Thanks"
17 hours ago
Willy Fernandez replied to Randy's discussion ArduCopter-3.1 released!
"Marco, i have been flying and using AC3.1.1-rc1 for the last 2 months for video on weddings and surveys of vegetation/plantation. There's a slight twitching when flying in "hybrid loiter" but i still say, it is acceptable and will not…"
23 hours ago
Yi Zheng replied to Randy's discussion ArduCopter-3.1 released!
23 hours ago
Jay Galleno replied to Randy's discussion ArduCopter-3.1 released!
"AC3.2 is the most exciting firmware release so far. Those are handful improvements over AC3.1.3, therefore my expectations are heavenly. I wish a not as much bug on this ;D."
23 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

GPS Glitch detection in AC3.1

Posted on December 14, 2013 at 6:42am 24 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 30 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…


Dropping a Rover from a HexaCopter

Posted on February 11, 2013 at 8:48am 13 Comments

For those interested in using their multicopters to carry heavy objects you might be interested in the test that I performed today with Assistant Professor Nagatani-san of Tohoku university in Japan and Izu-san of…


Comment Wall (21 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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