= Erle-Brain (discontinued) =
{{https://erlerobotics.com/blog/wp-content/uploads/2014/06/erlebrain-focus.png|Erle-brain|width="800"}}

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

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== Overview ==
[[http://erlerobotics.com/blog/erle-brain/|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 [[http://ardupilot.com/|APM autopilot]] and has ROS Hydromedusa preinstalled.

The flight software and ROS at [[http://erlerobotics.com/blog/erle-brain/|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)

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

== ROS Packages ==
 * [[mavros]]
 * [[ros_erle_buzzer]]
 * [[ros_erle_statusled]]
 * [[ros_erle_pwm]]
 * [[ros_erle_ubled]]

== Documentation ==
Erle-Rover

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

Erle-Copter

 * [[http://erlerobotics.com/docs/Robots/Erle-Copter/index.html|Erle Copter Index (English)]]
 * [[http://erlerobotics.com/docs/Robots/Erle-Copter/Assembly_|Erle-Copter assembly instruction (EN)]]
 * [[http://erlerobotics.com/docs/Robots/Erle-Copter/Assembly_|Erle-Copter assembly instruction (ES)]]
 * [[http://erlerobotics.com/docs/Robots/Common_Parts/Legs_Assembly.html|Assembly instructions – Legs and gimbal (English)]]

Erle-Brain

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

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.

Check out Erle Robotics [[https://www.youtube.com/channel/UC4PSPiQ7aIvQGgNTdp9IqOg|official youtube channel]] to watch work done using ROS.

== Getting Help ==
Post in our forum at http://forum.erlerobotics.com/.

== Purchase ==
Erle-Brain version 1 is '''discontinued'''. The new version [[http://wiki.ros.org/Robots/Erle-Brain-2|Erle-Brain 2]] is available in the [[https://erlerobotics.com/blog/tienda/|Erle Robotics store]].