• Male
  • Tokyo
  • Japan

Randy's Friends

  • Castar Dusabe
  • David
  • David Riera Mallol
  • Starsky Naya Lara
  • Henry Scheun
  • Sam Wharton
  • Carie
  • Paul Lee
  • Charly Novria Zalfit
  • ธงชัย ชัยเรือน
  • Victor Peñalver
  • Omid Es
  • Inertial Stability Systems
  • Lincoln Gerken Glória
  • Mubbasher Mukhtar

Randy's Groups

Randy's Discussions

PixRacer with Ardupilot

Started this discussion. Last reply by Mark Whitehorn Dec 10, 2017. 1194 Replies

Ardupilot on QC Snapdragon

Started this discussion. Last reply by Bill Piedra Apr 10, 2017. 9 Replies

Pixhawk 1MB flash limit

Started this discussion. Last reply by gregsky May 24, 2017. 87 Replies


Welcome, Randy!

Latest Activity

Randy replied to Ray's discussion bad crash last Saturday - can someone here read logs and analyze ? in the group IRIS
"I don't spend time on DIYD anymore, normally I'm over on discuss or one of our other communication channels. In any case, I wanted to let you know that Peter Barker and I have seen this and will look into it.  I've raised an…"
Jan 22
Greg Covey replied to Randy's discussion figuring out the Antenna Tracker
"Steve, There are complete instructions here. Cheers!"
Jan 21
steve replied to Randy's discussion figuring out the Antenna Tracker
"I've built an antenna tracker a couple of years ago using the old antenna tracker model from diydrones. I know that sometime later they made it simpler so you could just put an APM on the pitch part of the tracker and it would auto point to the…"
Jan 16
Mark Whitehorn replied to Randy's discussion PixRacer with Ardupilot
"The PixRacer does not have an analog input pin dedicated to airspeed input. I use the MS4525 and MS5525 digital sensors on I2C instead."
Dec 10, 2017
Mark Whitehorn replied to Randy's discussion PixRacer with Ardupilot
Dec 10, 2017
Wicus Roets replied to Randy's discussion PixRacer with Ardupilot
"Michael, could you as yet source the ACSP5 power module ? I don't seem to be able to source it..."
Dec 9, 2017
Rico replied to Randy's discussion figuring out the Antenna Tracker
"APM 2.6 with RFD900x"
Nov 22, 2017
Rico replied to Randy's discussion figuring out the Antenna Tracker
"Hi Ofir, I finally got mine working a while ago. I have never needed to arm it so assume maybe that it doesn’t require arming? When I apply power to it, it seems to fire up straight away."
Nov 22, 2017
ofir bitton replied to Randy's discussion figuring out the Antenna Tracker
"hallo i have a apm 2 flashed with antenna tracker firmware  i cant arm it, why ?"
Nov 22, 2017
Juan C Ricardo replied to Randy's discussion PixRacer with Ardupilot
"Hi guys: Anyone knows here if I can wire an analog speed sensor to pixracer ? regards and thanks in advance ! jc"
Oct 10, 2017
Emanuele Tonucci replied to Randy's discussion PixRacer with Ardupilot
"Thank you very much. I'll try tomorrow! Hope the weather will be clement!"
Oct 6, 2017
Luc Maximilien replied to Randy's discussion PixRacer with Ardupilot
"Autotuning works pretty well , run one axis separately  and you will have a good result"
Oct 6, 2017
Emanuele Tonucci replied to Randy's discussion PixRacer with Ardupilot
"Thank you for your reply. I knew the video, but it is no so simple to do it! If I have a decent set of PID I can enable the AutoTune mode. Or if it is possible to convert the PX4 PID to Arducopter PID the problem will be solved! If somebody know…"
Oct 3, 2017
Otto Küng replied to Randy's discussion PixRacer with Ardupilot
"Try this methode, it works verry well without risk and is rapid."
Oct 3, 2017
Emanuele Tonucci replied to Randy's discussion PixRacer with Ardupilot
"Hello to all,I built a Robocat 270 with Pixracer and Emax 2205 and propellers 5045.By charging PX4 with ZMR250 configuration, the drone flies decently.However, I would like to go to Ardupilot because it is the platform I know best.Unfortunately,…"
Oct 3, 2017
Mike Mac replied to Randy's discussion figuring out the Antenna Tracker
"I have a geared servo setup so it moves at the correct speed. Do you have direct drive or what? Try lowering P. Servo City has gears and gearboxes. I finally got my tracker set up just the way I have always wonted it. I have it working with a Servo…"
Sep 25, 2017

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-3.4'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

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