Erle-Brain (discontinued)


ROS Software Maintainer: Erle Robotics


Erle-brain is a Linux-based autopilot for making drones. It consists of a BeagleBone Black and a PixHawk Fire cape that put together conform a 1GHz Cortex-A8 embedded computer that has 29 sensors and many interfacing possibilities. Erle-brain comes with a Debian image flashed, it used the APM autopilot and has ROS Hydromedusa preinstalled.

The flight software and ROS at Erle-brain are interfaced using the mavros ROS package.

Software characteristics

  • Linux 3.8 kernel compiled with the PREEMPT option (other kernels available)
  • Debian Wheezy file system
  • ROS Hydromedusa
  • mavros ROS package
  • APM running natively in Linux (and linked with ROS through mavros)

Hardware characteristics

  • 29 sensors
  • CPU: 1 GHz ARM Cortex-A8
  • GPU: PowerVR SGX530
  • RAM Memory: 512 MB DDR3
  • Flash memory: 4 GB eMMC
  • microSD slot, USB 2.0 type A host port, 10/100 Ethernet, mini-USB 2.0 client port, 2x UARTs, 1x ADC connector, 1x CAN, 3x I2C, 1x Buzzer out, 1x Safety switch, 12x PWM output channels, 1 PPM/S.Bus in, 1x Power brick and 1x Battery backup (1 LiPo cell)


ROS Hydromedusa comes preinstalled in the Erle-brain, the flight computer contained in Erle-copter.

ROS Packages






PXFmini autopilot shield

Erle Robotics maintains a 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

Check out Erle Robotics official youtube channel to watch work done using ROS.

Getting Help

Post in our forum at


Erle-Brain version 1 is discontinued. The new version Erle-Brain 2 is available in the Erle Robotics store.

Wiki: Robots/Erle-brain (last edited 2016-04-25 14:10:25 by inigomuguruza)