Randy's Comments

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

At 2:07am on December 10, 2012, Kate said…

hey Randy,

I would like to know about the obstacle avoidance of quadcopter. Can you please help me?

And about how efficiently the sonar would work?

At 9:42pm on December 14, 2012, Ray Snipes said…

Hi Randy,


  I curently reside in Sagamihara, Kanagawa. Not far from Tokyo. I'm currently into quads and would like to know where do you fly your helis? Are you a member of a RC club and what city do you reside in Tokyo? Perhaps one day we can meet and do some flying.


At 8:03pm on February 8, 2013, Gary McCray said…

Hi Randy, Gary Here,

Trying to hook up Hokuyo via USB port using 2 to 1 connector for sufficient power and neither of my computers even see an unknown USB connection.

Just wondered if you ever tried to hook this up.

From everything I can tell, even if the driver isn't installed properly yet, In the device manager I should see an Unknown device message and right now nothing happens at either the computer or the Laser Scanner.

On both computers as soon as I plug in the APM I get an immediate response from both and it the connection is recognized in the device manager and connected to.

I fear there may be an actual problem with the scanner.

Sorry to bother you so soon, but thought I'd dig in as soon as I got it.

Just trying to bring up the Hokuyo visual interface.

Thank You,

Gary. grmccray@yahoo,com

At 3:36pm on February 12, 2013, Silviu said…

Hello Randy and thank you for sugestion regarding octa quad.I want to ask if you now someone who actualy made this kind of setup(octa quad) with APM 2.5 and if you now how could I contakt him.Thank you again,Silviu

At 11:38am on May 11, 2013, ChrisB said…

Hi Randy,

first of all, thanks a lot for your brilliant and impressive tutorial vids you have created. This brought many steps forward.
One question I have, and I coudn't find the answer in the wiki or in the forum. In the log file, what ist the difference between RelAlt and Alt. I have senn, there are differences in the values, but I can't interprete it in the right way.

Thanks a lot and best regards,


At 8:05pm on May 20, 2013, FYP said…

Hi Randy.

i realy hope u all can help me for IR( sharp 2Y0A02) obstacle avoidance..

currently, im ussing APM2.0 and code arducopter 2.91 version.

im now facing problem in reading IR sensor...

under file, examples, AP_RangeFinder, AP_RangeFinder_test....

i just uncomment ->

AP_RangeFinder_SharpGP2Y aRF(&adc_source, &mode_filter);

and comment 

//AP_RangeFinder_MaxsonarXL aRF(&adc_source, &mode_filter);

but there is an error as attached, 

then i just comment that line.

it works, but the the ir reading not accurate

for example true reading = 30 nad the aRF.read() = 39

also, the value not consistence. 

how should i fix it???


At 9:41pm on July 4, 2013, Cindy Paguio said…

Hi Sir Randy! I am Cindy, a friend of Jonathan Diaz from the Philippines. He was the one who suggested to ask you regarding my problem. Do you have an idea why the mission planner's flight data is not responding to quadcopter's movements? I've also noticed that when "logs" is typed in the terminal, nothing happens. I have no idea why this is happening. Thank you very much in advance for your suggestions.

At 4:51am on November 5, 2013, rudyh said…

hello Randy

Introduce me rudy, I am a beginner in terms Multicopter. I am confused about the term ardupilot, arducopter, arduplane. Can be used for hexcopter ardupilot? because I had already bought ardupilot, whereas I actually to build a hexacopter. maybe you can explain the difference?

best regards


At 7:19am on January 27, 2014, Domi Nik said…

Hi Randy. I was looking around in DIY Forum for finding something about how the APM 2.6 Code is connected, respectively included to the Mission Planner. Furthermore, would it be possible to set all the parameters just in the ArduCopter programm, meaning without the Mission Planner? I would be glad if you could clear me up, or giving me a hint. Thanks in advance.


At 7:43am on March 17, 2014, Robert Lee said…


Here's a big problem to discuss with you. I flied like this: armed in loiter on the ground and switch to auto to takeoff, the copter takeoff  2 meters off the ground and  turn into loiter mode.

Then I flied for a while , to a place lower than the ground, the copter  go up suddenly and can't stop! I tried land and stablize mode, and flied back the copter in stablize mode. Then I did the same thing as before, the problem occured again! Here are the logs, logs show that some problems occured between baro_alt and current_alt.2014-03-17%2016-59.log

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