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Randy's Groups

Randy's Discussions

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 Artem 45 minutes ago. 2537 Replies

ArduCopter-3.2.1 Beta Testing

Started this discussion. Last reply by Johann Bruwer Jul 22. 585 Replies


Welcome, Randy!

Latest Activity

Artem replied to Randy's discussion Copter-3.3 beta testing
"Жека то что он говорит это то что китайский pixhack имеет поблеммы с вибрацией... Проверь что силикон внутри не болтается.  Есть два пиксхака. Один в алюминиевом корпусе делает CUAV, другой в пластиковом .., последний полное Г.  Первый…"
45 minutes ago
Shaun Bell replied to Randy's discussion Copter-3.3 beta testing
"Pix4d says the kappa angle is 90 degrees off and that's causing the orientating problem with their software geotagging.  CAM, 595372339, 339994200, 1854, 49.8042384, -119.4715983, 578.83, 69.99, 2.10, -9.35, 266.46.  In my quality…"
2 hours ago
Shaun Bell replied to Randy's discussion Copter-3.3 beta testing
"Seems to be a few problems for us mapping.  When using Pix4d to geotag (since mission planner will crash with 3.3 in the geo tagging window), it's not orientating the photos correctly.  With camera facing forward selected, the log…"
2 hours ago
Paul Atkin replied to Randy's discussion Copter-3.3 beta testing
"Be careful with this setting for HDOP_GOOD, if you activate geofence you will see what factual HDOP and number of satellites it accepts as 'good' until it will finally let drone to arm. I do suspect a lot of subsequent EKF issues that…"
3 hours ago
Rodrigue Amyot replied to Randy's discussion ArduCopter-3.0.1 released!
"No I didn't.  It was part of configuring everything but it was not a mandatory setting for me. But I would like to be able to do it for some situation. So I'm still interested to how to do it."
3 hours ago
Ryan Preston replied to Randy's discussion ArduCopter-3.0.1 released!
"Rodrigue Amyot, have you found a solution to your problem? I seem to be encountering the same issue and was wondering if you had already figured it out. "
4 hours ago
Ultrafuge replied to Randy's discussion Copter-3.3 beta testing
"Does this mean GPS_HDOP_GOOD should be set to 230-92=138 or is it just a display issue in 'Flight Data' ?"
4 hours ago
Evgeny replied to Randy's discussion Copter-3.3 beta testing
"Yes, it have anti-vibrations palte with sensor, so I can mount it hard on copter and have good level of vibration. But I'm not sure about second IMU unit, it show high level of vibration. "
5 hours ago
Andrea Zamuner Cervi replied to Randy's discussion Copter-3.3 beta testing
"GeoTagging and Log problems with rc8 My Italian friend Jacopo have some problems with GeoTagging the photos taken with his multicopter.He have done some test with rc7, rc8 and some other test by downgrading to rc5.The problem that his copter have is…"
6 hours ago
Jesus A replied to Randy's discussion Copter-3.3 beta testing
"Those pixhack have been famous AFAIK for their problem with vibration"
6 hours ago
Evgeny replied to Randy's discussion Copter-3.3 beta testing
"Thanks for support. Answers: 1. Lean to left side, you can see MP log in attach (fly from 70% of length of log) 2. It is Pixhack. It have anti-vibration plate inside with sensors. 3. It is on double-sided adhesive tape and attached…"
6 hours ago
Andrea Zamuner Cervi replied to Randy's discussion Copter-3.3 beta testing
7 hours ago

Randy replied to Randy's discussion Copter-3.3 beta testing
"Evgeny, We can't explain why one shows more clipping than the other I'm afraid but it could be some kind of physical effect of board flexing maybe. This log is making us re-think whether the solution we put in place after your previous…"
10 hours ago
Wes replied to Randy's discussion Copter-3.3 beta testing
"Here is the bin file for Mondays flight with better uncontrolled climb and loose Loiter. Are there any good tutorials on understanding logs? I only understand about 10% of the info. "
13 hours ago
Rick Huebner replied to Randy's discussion Copter-3.3 beta testing
"Thanks Randy, I did quote you so that they would know what was wrong. Sounds like my log was useful for future development, so that is good. Nobody got hurt in my crash, and hopefully these new functions will make it safer. That is good. Thanks for…"
13 hours ago

Randy replied to Randy's discussion Copter-3.3 beta testing
"Rick, Yes, it's certainly possible.  If the SPI bus is knocked-out (like this appears because both baro and MPU6k go bad) then the board might not boot because we have a "Panic" in the baro driver.  We should remove that so…"
14 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

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 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 83 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…


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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