Bebop

2015-02-05T12:26:34Z

Henri: Change the antennas description ceramic was only used on the prototypes. We use now PCB dipoles antennas. They work beter

<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 45%; overflow: hidden">[[Image:Parrot-bebop-drone-new-03.jpeg|right|500px|Parrot Bebop]]</div>
<div style="float: right; width: 40%">__TOC__</div>

The [http://www.parrot.com/usa/products/bebop-drone/ Bebop] from [http://www.parrot.com/ Parrot] is an Wifi controlled flying quadrotor and is designed to be controlled with Android and iOS devices.

== Features ==
=== Connectivity ===
* Wi-Fi antennas: MIMO dual-band with 2 double-set of dipole antennas for 2.4 and 5 GHz
* Sending power: Up to 26 dBm
* Signal range: N/A

=== Structure ===
* 4 Brushless Outrunner motors
* Glass fiber reinforced (15%) ABS structure
* High-resistance EPP outdoor hull: Clip and unclip easily to adapt to indoor and outdoor flight, protects the propellers against potential bumps, can be removed to reduce wind factor
* Three-blade auto-block propellers in Polycarbonate with fast disassembly system
* Anti-vibration bumpers

=== Camera ===
* Camera with "Fisheye" lens 180° 1/2,3": 6 optical elements and 14 Mega pixels sensor
* Video stabilization: Digital on 3-axes
* Video definition: 1920x1080p (30fps)
* Photo definition: 3800x3188 pixels
* Video encoding: H264
* Photo file format: RAW, DNG
* Internal memory: Flash 8 GB
* Extended memory: Micro USB

=== Battery ===
* Lithium Polymer 1200 mAh
* Flight time: Around 12 minutes

=== Processor ===
* Motherboard:
** Parrot P7 dual-core CPU Cortex 9
** Quad core GPU
** 8Gb flash memory
* All fixed on a magnesium shelf that acts as electromagnetic shielding and as a radiator
* Operating system: Linux
* Developping: Open-source SDK

=== Sensors ===
* 3-axes magnetometer (AKM 8963)
* 3-axes gyroscope (MPU 6050)
* 3-axes accelerometer (MPU 6050)
* Optical-flow sensor (Fig.8): Vertical stabilization camera (Every 16 milliseconds, an image of the ground is taken and compared to the previous one to determine the speed of the Bebop Drone)
* Ultrasound sensor (Analyzes the flight altitude up to 8 meters)
* Pressure sensor (MS 5607)

=== Geo-location ===
* GNSS (GPS + GLONASS + Galileo, Furuno GN-87F)

=== Dimensions ===
* 28x32x3.6cm without the hull
* 33x38x3.6cm with the hull

=== Weight ===
* 380g without the hull
* 400g with the hull

== Pinout ==
=== GPIO ===
* 73 P7MU IRQ
* 81 GPS Power Enable
* 85 Fan enable
* 90 Vsync horizontal camera
* 91 DRDY MPU6050
* 201 On/Off button (default monitor to files running: /bin/onoffbutton)
* 202 HOST_MODE_3V3
* 128 (video) Slew rate??
* 129 Vertical camera enable
* 130 (video) Slew rate??
* 132 Horizontal camera enable
* 199 BLDC micro-controller reset (forces it into bootloader) ON/OFF
* 200 US Pulse level
* 202 USB Host mode pin

=== PWM ===
* 6 Heating resistor for warming IMU sensors (125000ns period, 0ns duty)
* 8 MPU6050 clock (31510ns period, 15258ns duty) Desired frequency is 32768kHz with 50% duty cycle (period=30517us). Period was set empirically to 31517 to get a 5ms data ready period. Desired frequency is slightly modified to synchronize camera and IMU
* 9 Vertical camera clock (23ns period = 43MHz)
* 11 Horizontal camera lock (77ns period = 13MHz)

=== I2C ===
* I2C-0
** FPGA
** P7MU
** EEPROM Unknown EEPROM for Front camera calibration (addr 0x55)
** MT9f002 CMOS Digital Image Sensor (1/2.3 inch 14Mp, front camera) [https://www.aptina.com/products/dsc%1Cdvc/mt9f002/ MT9f002]
** MT9v117 CMOS Digital Image Sensor (1/6 inch VGA, bottom camera) [http://www.aptina.com/assets/downloadDocument.do?id=553 MT9v117]
* I2C-1
** Cypress Motor Controller (Parrot BLDC) [[Bebop/BLDC]]
** AKM8963 Magnetometer [http://www.akm.com/akm/en/file/datasheet/AK8963.pdf AK8963]
** MS5607 Barometer [http://meas-spec.com/product/pressure/MS5607-02BA03.aspx MS5607]
* I2C-2
** MPU6050 Gyro + Accel [http://invensense.com/mems/gyro/documents/RM-MPU-6000A.pdf MPU6050]

=== UART ===
* ttyPA1 GPS (Furuno GN-87F)

== Actuators ==
The Bebop has 4 Brushless motors, which are controlled by the cypress chip on I2C-1. This Cypress chip contains costum made firmware(BLDC) from Parrot, which can be automatically updated using a bootloader.
The firmware from Parrot contains a very nice closed loop RPM control, which is automatically tuned inside the factory.

For more information about how to communicate with the BLDC look at [[Bebop/BLDC]]. Or take a look at the "bebop" actuator inside the <code>airborne/boards/bebop/</code> folder.

== Programs ==
* /usr/bin/dragon-prog Main program that controls the drone
* /bin/watchdog.sh Checks if Dragon is still running and reboots dragon
* BLDC_Test_Bench Controls the Brushless Motor Controllers for testing and playing sounds etc.
* bcmwl Everything with wifi
* diagnostic Outputs sensor diagnostic
* mk3_camera_eeprom Reads the front camera EEPROM
* config_mt9v117 Configure the bottom camera

== Cross compiler ==
For the Bebop you need to use a recent version GNU gcc-arm-linux-gnueabi (Ubuntu/Linaro 4.7.4-2ubuntu1) 4.7.4 provided with Ubuntu since 14.04 LTS.

If it doesn't work with your GCC/Linaro version, you can also try the Sourcery CodeBench Lite 2012.03-57 for ARM GNU/Linux from Mentor Graphics (previously codesourcery).
This cross compiler is available here: [https://sourcery.mentor.com/GNUToolchain/release2187 Sourcery CodeBench Lite 2012.03-57 for ARM GNU/Linux]. Please install this crosscompiler in the /usr/local/codesourcery/ directory of your computer, to make sure paparazzi is able to find the cross compiler.

[[Category:Autopilots]]

PaparazziUAV - User contributions [en]

Bebop