= Erle-HexaCopter =

{{https://erlerobotics.com/blog/wp-content/uploads/2015/02/10.png|Erle-copter|width=800}}

''ROS Software Maintainer: [[http://erlerobotics.com|Erle Robotics]]''

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== Overview ==

[[https://erlerobotics.com/blog/product/erle-hexacopter/|Erle-HexaCopter]] is a "heavy lifter" version of [[http://wiki.ros.org/Robots/Erle-copter|Erle-Copter]], a Linux-based drone that uses the award winning [[http://copter.ardupilot.com/|APM:Copter]] autopilot software. It’s capable of the different flight modes and ideal for outdoor operations. It has been designed for an extended flight time and it can carry a takeoff weight of about 3-4  kilograms.

[[https://erlerobotics.com/blog/product/erle-hexacopter/|Erle-HexaCopter]] is powered by [[Robots/Erle-brain|Erle-brain]] Linux autopilot which includes ROS and communicates with the flight software using the [[mavros]] ROS package.

== Installation ==

ROS Indigo comes preinstalled in the [[Robots/Erle-Brain-2|Erle-Brain 2]], the flight computer contained in Erle-HexaCopter. 

== ROS Packages ==

 * [[mavros]]
 * [[ros_erle_buzzer]]
 * [[ros_erle_statusled]]
 * [[ros_erle_pwm]]
 * [[ros_erle_ubled]]
 * [[https://github.com/erlerobot/ros_erle_takeoff_land|ros_erle_takeoff_land]]
 * [[https://github.com/erlerobot/ros_erle_teleoperation|ros_erle_teleoperation]]

== Simulation ==

This section explains how to use ROS/Gazebo simulator to simulate Erle-Copter. The main characteristics of the simulation are:

 * Simulation stability and deterministic UAV response (step lock mechanism)
 * Simplified ROS/Gazebo simulation launch, fully configurable through arguments to the well-used SITL launch script, sim_vehicle.sh
 * Integration of the GPS sensor provided by Hector's plugin
 * Georeferenced overlay map image on MavProxy, to better assess the UAV position relative to its simulated environment

In order to begin it is required to arm. Some of the available features provided are:

 * Inertial measurement unit (IMU) which provides linear acceleration, angular velocity, atmospheric pressure and altitude
 * Compass which provides heading
 * GPS which provides longitude, latitude and altitude
 * Erle-Copter is equipped with 2 cameras, one front and one bottom, 2 sonar sensors, one front and one button and it's also possible to include a laser 2D or depth cameras.
 * It allows joystick manipulation

{{https://erlerobotics.com/docs/img/simulation/copter/tutorial_1/Gazebo_erlecopter_close.png|Erle-copter simulation|width=800}}


More info: [[http://erlerobotics.com/docs/Simulation/| Erle Robotics official documentation]]

== Documentation ==
Erle-Rover

 * [[http://erlerobotics.com/docs/Robots/Erle-Rover/index.html|Erle-Rover Index (English)]]

Erle-Copter

 * [[http://erlerobotics.com/docs/Robots/Erle-Copter/index.html|Erle Copter Documentation Index (English)]]
 * [[http://goo.gl/eEW5B8|Erle-Copter Assembly Instruction (English)]]
 * [[http://goo.gl/ASYhTo|Erle-Copter Assembly Instruction (Spanish)]]
 * [[http://erlerobotics.com/docs/Robots/Common_Parts/Legs_Assembly.html|Assembly instructions – Legs (English)]]

Erle-Brain

 * [[http://erlerobotics.com/docs/Artificial_Brains_and_Autopilots/Erle-Brain_2/index.html|Erle-Brain Operation manual (English)]]

Erle-Spider

 * [[http://erlerobotics.com/docs/Robots/Erle-Spider/index.html|Erle-Spider Documentation Index]]

PXFmini Autopilot shield

 * [[http://erlerobotics.com/docs/Artificial_Brains_and_Autopilots/Autopilot_shields/PXFmini/index.html|PXFmini Documentation Index]]
Erle Robotics maintains a [[http://erlerobotics.com/docs| Documentation]] that mean to instruct how to use their technology.

A video series about how to code autonomous behaviors for drones with this technology is available at https://www.youtube.com/playlist?list=PL39WpgKDjDfVfiNVG47DBi93wsh2XHKVO.

== Getting Help ==

Post in our forum at http://forum.erlerobotics.com/.

== Purchase ==
Erle-HexaCopter is available through the [[https://erlerobotics.com/blog/tienda/|Erle Robotics store]].