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Randy's Groups

Randy's Discussions

Copter-3.3 beta testing

Started this discussion. Last reply by Geert Pirens 14 minutes ago. 865 Replies

ArduCopter-3.2.1 Beta Testing

Started this discussion. Last reply by Ravi Apr 21. 578 Replies


Welcome, Randy!

Latest Activity

Geert Pirens replied to Randy's discussion Copter-3.3 beta testing
"Thank you so much for the info, I'll try as soon the weather allow. I use GARTT ML3508-700KV motors with 13x5.5 carbon props. Will there be any difference in reaction on what ESC's we use? I use SimonK firmware ESC's from ZTW…"
14 minutes ago
Richard Kennedy replied to Randy's discussion Copter-3.3 beta testing
"Does it seem overall more able to keep the copter at a steady height off the ground  even in turns etc? As JoeBob points out it seems any pitch or roll would effect it's reading and end up thinking it was higher than it was. Thanks for the…"
15 minutes ago
Geert Pirens replied to Randy's discussion Copter-3.3 beta testing
"I had exactly this issue with 3.2-rc14 the drone was over responsive after the Autotune. doing the AutoTune the drone becomes too…"
1 hour ago
Doug Walmsley replied to Randy's discussion Copter-3.3 beta testing
"Teaser.   I took my OctoQuad up for a flight with LiDAR installed and all went well.  I captured some data from my log and attached it to this post.  Aside from a few signal drop outs on ascent and descent, the LiDAR unit read…"
1 hour ago
Arni Gunnar Robertsson replied to Randy's discussion Copter-3.3 beta testing
"Hi Leonard The flight today ended in crash. EKF_GPS_TYPE set to 0 but cannot see much improvement in altitude control. Like the other day it was light wind with some gusts. One gust of wind maybe 5-6m/s and the controller did not manage to keep it…"
2 hours ago
phillNZ replied to Randy's discussion Copter-3.3 beta testing
"Hi GP I'm using SunnySky 3508s-16 700kv motors swinging 13x5.5 props                           Ver3.2     Ver3.3 Stabilise Roll     5.0000    8.900 Sabilize Pitch    5.0000    8.900 Satbilize Yaw    4.5000    3.600 Rate Roll / Pitch P            …"
2 hours ago
Erik Groeneveld replied to Randy's discussion Copter-3.3 beta testing
"After a resent swim with this drone, today I took her out for a 2nd flight again. Decided to run V3.30 RC4, and activated Autotune on Roll, and Pitch (we all know why I skipped Yaw ;-) Takeoff in Stabilize, switch to Althold at around 5 meters, and…"
3 hours ago
Geert Pirens replied to Randy's discussion Copter-3.3 beta testing
"Hi phill,  Can you provide the well working PID's for your 690s frame? Thanks in advance!"
3 hours ago
Artem replied to Randy's discussion Copter-3.3 beta testing
"here are the pictures: ; the ****hawk is replaced now with AUAV-X2 "
3 hours ago
Edward (Sandy) Abernethy replied to Randy's discussion Copter-3.3 beta testing
"I am also getting messaging Error EKF POS VERT and occasionaly BAD GYRO HEALTH, and with blinking green led, arms and flies great..  3.3rc4 MP 1.3.27 EKF on"
3 hours ago
Gregmaan replied to Randy's discussion Copter-3.3 beta testing
"For me I also think that autotune is giving not the best results for my T960: The difference in reaction between roll and pitch seems to be significant. At the moment I think I must do every axis with another aggressivness. Autotune_AGGR 0,1:…"
7 hours ago
Artem replied to Randy's discussion Copter-3.3 beta testing
"HI leaonardt, thank you for looking into this. You might remember we already spoke couple of time regarding autotune on tricopters. Couple questions, do you need some of the regular logs as well, or only those with autotune?  I will reattach…"
7 hours ago
Luis Vale Gonçalves replied to Randy's discussion Copter-3.3 beta testing
"Apparently 1.3.27 is already out and for me sorted the problems...."
8 hours ago

Craig Elder replied to Randy's discussion Copter-3.3 beta testing
"Can you please post a log file and some graphs showing your analysis where you think the auto tune needs to be improvemented and exactly where your manual tune is creating better response from the vehicle. Thanks"
8 hours ago

leonardthall replied to Randy's discussion Copter-3.3 beta testing
"Hi Gokhan, THR_MID replaces the hover throttle parameter The position pids have been renamed to be more sensible: POS_XY_P, POS_Z_P, VEL_XY_FILT_HZ, VEL_XY_I, VEL_XY_IMAX, VEL_XY_P, VEL_Z_P, ACCEL_Z_D, ACCEL_Z_FILT_HZ, ACCEL_Z_I, ACCEL_Z_IMAX,…"
9 hours ago
Michael Scott replied to Randy's discussion Copter-3.3 beta testing
"I had this happen a few weeks ago on a new DIY Pixhawk quad build running 3.2.1.  Was causing false altitude reports and RTL did not climb to min altitude before starting the return flight.  Had a few RTLs at 6 feet altitude. …"
11 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

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

Posted on May 3, 2015 at 8:21pm 24 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 79 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 242 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…


Comment Wall (27 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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