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Randy's Groups

Randy's Discussions

James T Qs re frames

Started this discussion. Last reply by Craig Sep 7. 2 Replies

Copter reliability vs functionality

Started this discussion. Last reply by Marco Robustini Jun 19. 204 Replies

Copter-3.3 beta testing

Started this discussion. Last reply by Nate892 55 minutes ago. 4195 Replies


Welcome, Randy!

Latest Activity

Nate892 replied to Randy's discussion Copter-3.3 beta testing
"auto analysis doesnt work anymore? is something wrong on my end? I get pop ups saying 'time' and then 'bad input file' but the logs open fine when i review them. Also im using the latest beta mission planner "
55 minutes ago
Pomaroli replied to Randy's discussion Copter-3.3 beta testing
"Leonard, here the logs Logs i've done first Pitch and Roll wich came out very nicely, then Yaw from default and third run the recalibration of yaw."
2 hours ago
Julien commented on Randy's blog post Copter-3.3 ready for wider use
"Another question about retractable landing gear. When in auto retract/deploy mode, how the pixhawk detect landing? Is that triggered only if landing or RTL mode is switched, or is this something with baro/gps that do the job? Thanks, Julien"
2 hours ago
Ivan R replied to Randy's discussion Copter-3.3 beta testing
"how much weight those it all add up?"
3 hours ago
Ivan R replied to Randy's discussion Copter-3.3 beta testing
"very cool!!!! "
3 hours ago
Julien commented on Randy's blog post Copter-3.3 ready for wider use
"Congrats and big up to the developpers and tester, as usual, fantastic features and more reliability!!  3.3 works perfectly on my small quad as on my big X8, that is much more stable in fast descent. I have a few questions about px4flow, and…"
3 hours ago
MarkM replied to Randy's discussion Copter-3.3 beta testing
"I find them easy as long as you pre-tin just the hashed end of the gold tab and the wire you're using. If you go over that hashed area, or the wire gauge is too heavy then they just never go into the housing."
6 hours ago
Richard Kennedy replied to Randy's discussion Copter-3.3 beta testing
"They are a bit of a pain to solder up but I really like how easily they disconnect.. Never had any problem with them. "
10 hours ago
MarkM replied to Randy's discussion Copter-3.3 beta testing
"Traxxas, good for around 120amp current. I use them on a 6cell erevo brushless and my friend on his 3cell slash 4x4 with mamba conversion."
11 hours ago

Randy replied to Henri's discussion Skycat parachute launcher for Drones
"Thanks for the logs. Yes, there's an item on the to-do list to keep logging if the disarm is caused by a parachute release. The vehicle falls quite far before the parachute deploys.  I wonder if we need to try and force that earlier in the…"
14 hours ago
Keith G replied to Randy's discussion figuring out the Antenna Tracker
"Another issue. I just bought two rfd900+ radios. Changed the net ids so the 3dr radios are on 50 and rfds are on 100, ramped the power up, hooked one 3dr to the tracker and one 3dr radio to the pc for a link. Hooked another rfd900+ to the tracker…"
15 hours ago
Keith G replied to Randy's discussion figuring out the Antenna Tracker
"also, the pitch is stuck at 45 degress again. i thought this problem was fixed. please help. over a year and still i cant get it to work,"
17 hours ago
Keith G replied to Randy's discussion figuring out the Antenna Tracker
"for some reason the compass is slowly turning in mission planner. did several calibrations but it wont stop. it's like the second hand on a clock. not sure why this started. nothing changed from when i used it months ago...except firmware. any…"
17 hours ago
Frederic Jean replied to Randy's discussion Copter-3.3 beta testing
"Nice setup. Thanks. Never seen battery connectors like those before: what are they?"
18 hours ago
Richard Kennedy replied to Randy's discussion Copter-3.3 beta testing
"Give or take it's a 550 quad I built myself with 1100KV T motors and a 3s 5200 batt. I use and all in one ESC. A Taranis set up . "
18 hours ago
Frederic Jean replied to Randy's discussion Copter-3.3 beta testing
"Congratulations to you and the Dev team! You did an amazing job."
19 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-3.3 ready for wider use

Posted on September 28, 2015 at 7:18pm 79 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 (…


Multi-Vehicle testing with APM:Copter, Tracker and Mission Planner

Posted on May 3, 2015 at 8:21pm 33 Comments

For some tasks (like Search and Rescue and mapping) what you can do with one vehicle, you can probably do faster with multiple vehicles.  To test how well it works in practice I tested…


ArduCopter 3.2.1 released

Posted on February 11, 2015 at 1:00am 94 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…


Comment Wall (28 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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