• Male
  • Tokyo
  • Japan

Randy's Friends

  • Sam Wharton
  • Carie
  • Paul Lee
  • Charly Novria Zalfit
  • ธงชัย ชัยเรือน
  • Victor Peñalver
  • Omid Es
  • Inertial Stability Systems
  • Lincoln Gerken Glória
  • Mubbasher Mukhtar
  • Najam ul saiqb
  • Kevin
  • Moataz
  • Alex Black
  • Sevyon

Randy's Groups

Randy's Discussions

PixRacer with Ardupilot

Started this discussion. Last reply by Serg Bokh Aug 4. 1184 Replies

Ardupilot on QC Snapdragon

Started this discussion. Last reply by Bill Piedra Apr 10. 9 Replies

Pixhawk 1MB flash limit

Started this discussion. Last reply by gregsky May 24. 87 Replies


Welcome, Randy!

Latest Activity

Serg Bokh replied to Randy's discussion PixRacer with Ardupilot
"Hi there, I used to supply my PixRacer via my 4-in-1 ESC 5v UBEC. But within ArduCopter log it is 4.6v. Meassuring by multimeterat it is 4.8v. The only good thing is that the voltage level is stable. - Have read many times that it is important to…"
Aug 4
Arthur Chiou replied to Randy's discussion Optical Flow discussion thread
"I have the same problem, and I know there are many people have the same problem. I do find a solution so you might try if it works for you. I guess this is a race condition during startup so I try to slowdown the boot process. Here is my solution to…"
Jul 28
Aaron Aude replied to Randy's discussion PixRacer with Ardupilot
"Quick question - when you say 'hard mount' do you mean mounting the PixRacer directly to the frame without any vibration padding or foam under it?"
Jul 18
Vaclav Demeter replied to Randy's discussion Optical Flow discussion thread
"Well its not a problem with the adresses. Because, yesterday the lidar was powered throug separate BEC and Optflow via 3.3V on I2C. And it worked as I described it above. Today i tried to power lidarlite through Pixhawk mini 5v output on rc…"
Jul 13
Vaclav Demeter replied to Randy's discussion Optical Flow discussion thread
"Hello.  I have this problem and i am not alone, however i cannot find a solution. I have 3dr pixhawk mini - PX4Flow - LidarLite V3. On pixhawk i run the firmware 3.5.0 - rc11, because previous versions are not working with my pixhawk…"
Jul 12
Warren Eather commented on Randy's blog post Multi-Vehicle testing with APM:Copter, Tracker and Mission Planner
"@Carie Here is a blog I did on flying a quadcopter and fixed wing simultaneously."
Jun 19
Carie commented on Randy's blog post Multi-Vehicle testing with APM:Copter, Tracker and Mission Planner
"@ Warren That's awesome! Thank you so much!"
Jun 19
Warren Eather commented on Randy's blog post Multi-Vehicle testing with APM:Copter, Tracker and Mission Planner
"Hi Carie, I've used the RFD900 Tx/Rx with MultiPoint firmware to control multiple aircraft simultaneously."
Jun 18

Randy replied to Randy's discussion figuring out the Antenna Tracker
"I think it's best to discuss over on's antenna tracker support area."
Jun 15
palo sestak replied to Randy's discussion figuring out the Antenna Tracker
"Well guys I put together my quad copter and antenna tracker (build 0.8 on pixhawk). Connection via 433mhz telemetry link between vehicle and pixhawk works - I can see in MP telemetry data from vehicle. Anyway I can't switch between data from AT…"
Jun 15
Carie commented on Randy's blog post Multi-Vehicle testing with APM:Copter, Tracker and Mission Planner
"@ Randy Was the antenna tracker the only way you could connect all three vehicles? I'm trying to do the same thing without an antenna tracker and so far no luck."
Jun 15

Randy commented on Randy's group Japan ArduCopter Group
"Wataさん最近DIYDronesよりFacebookの方がactiveだと思います。 英語ですがArduPilotのサポートフォラムはこちらです"
May 24
Wata commented on Randy's group Japan ArduCopter Group
"バッテリーのフェイルセーフが飛行後すぐ働き、アラームが鳴ります。 ならないようにするにはどうすればよいでしょうか? ちなみに有線給電で14.4Vで使用しています。"
May 24
gregsky replied to Randy's discussion Pixhawk 1MB flash limit
"This is the board with the ST-LINK, the programmer part can be separated and used to program STM32…"
May 24
gregsky replied to Randy's discussion Pixhawk 1MB flash limit
"Hi everyone, I have some STm32 rev.3 chips on the way and I'm going replace them. Can anyone help me with the boot-loader as these are stock stm32 chips? I have a Nucleo board with the ST-LINK/V2-1 debugger/programmer so I think I can load the…"
May 24

Randy replied to William Billings's discussion APM 450 Helicopter tuning in the group ArduCopter (traditional heli) user group
"It may be better to get support on the ardupilot discourse server: code for the APM2.6 is pretty old now.. >2years I think.  Best to get a more modern flight controller.…"
May 14

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

Randy's Photos

  • Add Photos
  • View All

Randy's Blog

Copter-3.4's polygon fence

Posted on August 16, 2016 at 6:12am 3 Comments

One of the more important features that will arrive with Copter-3.4 (still in beta testing) is the Polygon Fence (the full list of features can be seen in the …


AntennaTracker v1.0 on NAVIO2 with Bebop2

Posted on July 28, 2016 at 2:07am 28 Comments

ArduPilot's Antenna Tracker firmware has been making some quiet progress over the past few months.  They're all documented in the …


Copter-3.4 beta testing starts

Posted on May 30, 2016 at 10:30pm 25 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 28 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 82 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…


Comment Wall (37 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

You need to be a member of DIY Drones to add comments!

Join DIY Drones


© 2017   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service