Connecting to Erle-Brain 3

Once you have installed the APM planner in your computer, the next step is to connect to Erle-Brain 3.

When you power up Erle-Brain 3 it automatically generates a WiFi spot in order to exchange data with the GCS.

Follow the next steps to connect:

  • Connect to WiFi, normally erle-robotics-. The password is holaerle.
  • Open APM Planner.
  • Open Communication tab, and click on Add Link -> UDP
  • Set UDP port to 6000
  • Clik on Add IP and set it to, as in the next image:

  • Click on Connect
  • Restart APM

In order to connect under Windows, check out this link to configure the communications

Once done, Launch APM, go to communication ->add link -> udp

The next actions need to be perform to connect GQS via telemetry. The recommended method to connect the telemetry is via USB.

Connect one of the telemetry to the computer with APM Planner 2.0 installed. The other telemetry part will be connected via USB to Erle-Brain 3.

In order to enable the Telemetry via USB in the autopilot you need to be connected via SSH.

Modify the next line and add a C parameter with the telemetry route.

$APM_BIN_DIR/ArduPlane.elf -A udp:$wifi -B /dev/ttyS0 -C /dev/ttyUSB0 $FLAGS

If you are using the escarlata version or lower the next actions should be perform:

erle@erle-brain-2 ~ $ cd ros_catkin_ws/install_isolated/
erle@erle-brain-2 ~/ros_catkin_ws/install_isolated $ nano setup-mavros-bridge-serial.bash

Edit the next file and set the USB port

# Launch a mavros for serial devices
rosrun mavros gcs_bridge __name:="gcs_bridge_serial"  _gcs_url:="serial:///dev/ttyUSB0"

Remember to restart the autopilot

sudo systemctl restart apm

Add a new Link. Communication > Add link > Serial

Baud rate: 57600