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Erle Robotics: Erle-Plane

PreFlight Checks

Before flying Erle-Plane for the fist time, you have to be sure all is working as expected.

This video, explains the process

In order to do so, follow the next steps:

Manual Mode Checks

The Manual Mode Checks allows you to see that the RC Channels are setup properly, the autopilot does not interfere between the RC and the values that are written to the servos and the motor.

For more info, check flight modes section

With this verification we could see if the four channels are assigned properly to the RC sticks and are not reversed. Follow the next steps:

  • Power up Erle-Plane
  • Connect to Erle-Plane and set it into Manual Mode.
  • Trigger the throttle from the RC, as in the below image:

Plane Throttle

  • Check if the Rudder is working fine

Turn the left stick to the right, you should see that the rudder flap turns also to the right

Right rudder

And now turn the left stick to the left and check if rudder also moves to the left:

RC rudder

  • Check that the ailerons are working fine

Move the right stick of the RC to the right. Right ailerons

You should see how the left aileron moves down and the right aileron up. Move the right stick of the RC to the left left ailerons
You should see how the left aileron moves up and the right aileron down. ---- + Check if Elevator is working fine Turn the right stick to the up, you should see that the elevator flap turns down up elevator

And now turn the right stick down and check if elevator moves up:

up elevator

Troubleshooting

You might find that your Erle-Plane is not behaving as described above. So, what to do??

  • RC Sticks are not set in the same order as explained above

That means that autopilot has assigned the received channels as in a different order. To fix this behaviour, change RC Map parameters: change the channel number (1-4) where autopilot receives the rudder,yaw,pitch and roll. Load the changes to Erle-Plane by clicking on Write tobutton.

rc map

  • The movements are reversed

This means that the RC is sending wrongly the values . To fix this behaviour: in the RC, enter in settings -> Reverse. Reverse the channel is not properly set.

rc reverse rc reverse ch

Stabilize Mode Checks

Once we are sure that Erle-Plane and the RC are properly configured, let's see if the autopilot stabilize the plane correctly.

You should see that the left aileron moves up and the right aileron down. You also should see that the rudder moves to the left.

auto roll right

You should see that the left aileronmoves down and the right aileron up. You also should see that the rudder moves to the right.

auto roll left auto rudder right

  • Put the nose of Erle-Plane looking to the floor.

You should see that the elevatormoves up.

auto relevator up

You should see that the elevatormoves down.

auto elevator down

Troubleshooting

You might see that your Erle-Plane is not behaving us described above. So what to do if the movements are reversed??

Open the parameters list, the easiest way to do it, is using a GCS. Now, change the reverse/direct parameter of the channel that is moving wrong. If it is set to '1', assign it to '-1', and vice versa.

rc channels

Don't forget to overwrite the changed parameters, just click on Write to button.