Derek Martinus, who oversaw the first regeneration from William Hartnell into Patrick Troughton, as well as the first colour story for the classic series of Doctor Who, has died aged 82.

As well as The Tenth Planet and Spearhead from Space, Martinus directed Galaxy 4, The Evil of the Daleks and The Ice Warriors for Doctor Who, and two episodes of Blake’s 7, The Keeper and Trial.

Martinus had been in frail health for some time.