PaparazziUAV - User contributions [en]

Bebop

2016-07-17T17:49:27Z

Rmeertens: added more gettign started info

<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>

= Introduction =

By default the [http://www.parrot.com/usa/products/bebop-drone/ Bebop] from [http://www.parrot.com/ Parrot] is a Wifi controlled flying quadrotor, designed to be controlled with an Android or iOS device.

'''No more restrictions''' as from now; with a few simple clicks you can '''run Paparazzi on the Bebop''' and have full autonomous flight and much more!

= Getting started =

What you need:
# A bebop drone (1 or 2) with the newest firmware
# A joystick (example: http://www.hobbyking.com/hobbyking/store/__20951__Hobbyking_6CH_RC_Flight_Simulator_System_Mode_2_.html
# A laptop with Ubuntu, or a virtual box. You can download one here: https://mega.nz/#!1JpTiTjS!GdAHpa-_FAQAFPNypp3a3Up0B0yo1kYLXi3YLMXSAoo}. The password for this virtual box is "mavlabcourse" (the same as the username).

Steps you will need to follow:
# Install Paparazzi: http://wiki.paparazziuav.org/wiki/Installation . This is already done on the provided virtual box
# Start paparazzi with the default configuration
# Power up your Bebop.
# If you have a Bebop 2 or a Bebop 1 with firmware v3.2.0 or higher press the '''on/off button twice''' in short fast after powerup (or try pushing 4x for Bebop 1)
# Make a Wifi connection with your PC and the Bebop
# In the Paparazzi center choose "Bebop" Or "Bebop2" in the airframe dropdown menu
# Press "Upload"
# Select Flight UDP in the session menu
# Press execute

Voila, you will get telemetry from the Bebop. Now it is up to you how and where to fly.
Useful things to watch are:
# The video series here: https://www.youtube.com/watch?v=eojAPZvT1Ck . Although it is made for the ARDrone the steps are very similar for the bebop drone.
# This site has several documents on how to program something for your drone: http://mavlabcourse.tk/ . Although these documents assume you have an indoor flight area, you can also fly outside with the internal GPS of the Bebop.

Do you need help with any of the steps? Please visit us at https://gitter.im/paparazzi/discuss

= 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

=== Full Motor details ===

In case for a simor motor model

* Magnets: 12
* Stators: 9
* Layers of stator metal: 15

* Copper windings: 34
* Copper diameter: 0.29mm
* Copper resistance: over 50 cm wire ~0.3 ohm

Dimentions:
* Flange height 7.67mm
* Flange dia22.7mm
* Axis length 19.4mm
* Axis dia 1.9 mm
* Statorheight 5.55mm
* Stator diam 18.33mm

Weight:
* Flange weight 3.05g
* Flange and magnets 5.15g (Magnet ~ 1.5mm thick on a Flange dia22.7mm)
* Magnet only (and the glue) 2.1g

== 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 A9
** Quad core GPU
** 8Gb flash memory
* All fixed on a magnesium shelf that acts as electromagnetic shielding and in the same run as a heat sink for heat dissipation and cooling of the all the onboard processors

== 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, [http://www.furuno.com/en/products/gnss-module/GN-87 Furuno GN-87F])

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

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

== OS/Software ==
* Operating system: Linux (kernel 3.4.11 #3 SMP PREEMPT)
* glibc: (Sourcery CodeBench Lite 2012.03-57) 2.15
* libstdc++: GLIBCXX_3.4 - GLIBCXX_3.4.16

= Pinout =
== GPIO ==
* 6 Fans Enable
* 9 WiFi Reset
* 73 P7MU IRQ
* 81 GPS Power Enable
* 85 Fan Enable
* 89 VCAM FSYNC gyro
* 90 HCAM FSYNC gyro
* 91 DRDY MPU6050
* 124 Magneto interrupt
* 128 (video) Slew rate??
* 129 VCAM enable
* 130 (video) Slew rate??
* 132 HCAM enable
* 199 BLDC micro-controller reset (forces it into bootloader) ON/OFF
* 200 US Pulse level
* 201 On/Off button (default monitor to files running: /bin/onoffbutton)
* 202 USB Host mode pin 3V3 (HOST_MODE_3V3)
* 203 USB Host mode on
* 204 USB0 OC

== 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) [http://www.onsemi.com/PowerSolutions/product.do?id=MT9F002 MT9f002] (addr 0x10)
** MT9v117 CMOS Digital Image Sensor (1/6 inch VGA, bottom camera) [http://www.aptina.com/assets/downloadDocument.do?id=553 MT9v117] (addr 0x5d)
* I2C-1
** Cypress Motor Controller (Parrot BLDC) [[Bebop/BLDC]] (addr 0x08)
** 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] (rotation changed in version 2)

== SPI ==
* spidev1.0 Sonar (Only data pin connected for generating pulses)

== UART ==
* ttyPA1 GPS (Furuno GN-87F on v1 and Ublox Neo M8N on v2)

== Other ==
* /dev/hx280 Hantro (On2) Video encoder. Hantro chip video encoder used for the HCAM.
* /sys/bus/iio/devices/iio:device0 (p7mu-adc_2) Sonar ADC

= Actuators =
The Bebop has 4 Brushless motors, which are controlled by the cypress chip on I2C-1. This Cypress chip contains custom made firmware(BLDC) by Parrot, which can be automatically updated using a bootloader in the ESC part of the mainboard.
The firmware from Parrot contains a nice closed loop RPM control, which is automatically tuned inside the factory.
Since version 2 Parrot changed the order and rotation direction of the motors.

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.

= Onboard applications =

The original programs on the Bebop

* /usr/bin/dragon-prog Main program that controls the drone
* /bin/watchdog.sh Checks if Dragon is still running and reboots dragon-prog if it somehow would not be running anymore

* 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.

[http://electronics.stackexchange.com/questions/21594/is-code-sourcery-g-lite-still-a-viable-projectIn the past you could also crosscompile with Sourcery CodeBench Lite 2012.03-57 for ARM GNU/Linux from <s>Greedy</s> Mentor Graphics, previously called codesourcery. However the open'ness there is nowhere to be found anymore, so we'll say "No thanks" to Codesourcery ,now <s>Greedy</s> Mentor"]
but if you [http://sourcery.mentor.com/public/gnu_toolchain/arm-none-linux-gnueabi/arm-2012.03-57-arm-none-linux-gnueabi.bin insist] , feel <s>free</s> restricted.

= Tips & Tricks =

== Video ==
Make sure the [http://docs.paparazziuav.org/latest/module__video_rtp_stream.html video_rtp_stream.xml] module enabled in the airframe.
Receive a video stream with e.g. avplay:
$ avplay -loglevel quiet -max_delay 50 -fflags nobuffer rtp://192.168.42.1:5000

One can also load the Videolan player via

$ vlc ~/paparazzi/var/sdp_tmp/192.168.42.1/stream.sdp

== Factory Reset ==
You can reset the Parrot Bebop Drone to factory settings. You '''will''' loose all your photos and movies recorded on your Bebop.
To do this you need to press and hold the power button for 10 seconds. The LED will blink green and orange for a while, then green and the drone will shutdown.

== Firmware ==
It is not important which firmware you use for Paparazzi to fly. Note that we test flew the Bebop with Firmware v1.98.11 and v2.0.57

Note that v3.2.0 is the latest Firmware know as of 20160413 and PPRZ video stream does not work. Feel free to fix it and make a pull request.
If even newer firmware is available please report any (if any) issues found related to the firmware.

= Using the MicroUSB for serial data =

The Bebop has this tiny USB connector just above the power button. This USB connector can also be used with help of a USB to Serial FTDI conversion board.
To use the driver in current firmware OTG serving should be off. More information, photos, connection examples, sourcode and real life example of how to use this port.

[[Category:Autopilots]]

Tutorials

2016-05-13T21:48:13Z

Rmeertens: asdf

__TOC__

A short course on using paparazzi and video processing on the Bebop can be found here: [http://mavlabcourse.tk/]
Various video tutorials of all kinds.

=[[Lisa/S/Tutorial/Nano_Quadcopter | Lisa/S Nano Quadcopter]]=

{{#ev:youtube|7lLxFDNiywM|200|left}} Building the [[Lisa/S]] Nano Quadcopter - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]
[[Lisa/S/Tutorial/Nano_Quadcopter | Lisa/S Quadcopter Detailed Assembly Tutorial]]

<br style="clear:both">

{{#ev:youtube|EkCLD8CUc2w|200|left}} [[Lisa/S]] Nano Quadcopter Getting Started - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]

<br style="clear:both">

= [[Elle | Elle Avionics System ]] =

{{#ev:youtube|yPNSzWRVHuA|200|left}} Introduction to the [[Elle0]] Autopilot - Video by [[User:Esden | Esden from ]] [[1BitSquared]]

<br style="clear:both">

{{#ev:youtube|TG-2z-KdJEI|200|left}} Introduction to the [[G0]] GPS Receiver Module - Video by the [[User:Esden | Esden from ]] [[1BitSquared]]

<br style="clear:both">

= Building a Drone with [http://1bitsquared.com/ Piotr Esden-Tempski] and Hak5 =

Piotr gave a series of interviews at Hack5 in which he walks through most steps for setting up a Quadrotor with the [[Lisa/M_v2.0 | Lisa/M V2]].<br/>
The [https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/examples/bumblebee_quad.xml bumblebee_quad.xml] airframe file is included in the default installation of paparazzi, and can be easily found in the default airframe paparazzi center dropdown as "Bumblebee_Quad".<br/>
This may be very helpful for beginners since a lot of important paparazzi related stuff is explained (but not all is required for a beginner). <br/>
The videos also contain some additional stuff which has nothing to do with paparazzi.

{{#ev:youtube|wBW7XXn_Bok|200|left}}
[https://www.youtube.com/watch?v=wBW7XXn_Bok Open Source Drones and Android SDR, Hak5 1611]
* Introduction to the terms Drones, UAV and UAS.
* Mechanical difference between quadcopter and helicopter, why the quadcopter is more common on hobbyists.
* Possible uses of UAV/UAS (non military).
* Safety guidelines (use your brain!, airports, other people...).

<br style="clear:both">

{{#ev:youtube|YZTPIS6mUjM|200|left}}
[https://www.youtube.com/watch?v=YZTPIS6mUjM Drone Basics and Open Source Ship Tracking, Hak5 1612]
* Quad, hexa and optocopters, which are the different benefits?
* Which parameters influence the propellers thrust(pitch, kV, V)?
* Short talks about brushed/brushless motors, frames, in this build used radio system and LiPo battery.
* Why a quadcopter can't be controled directly ba a human.

<br style="clear:both">

{{#ev:youtube|4wTGoogBvp8|200|left}}
[https://www.youtube.com/watch?v=4wTGoogBvp8 Drones 101: Flight Controllers + Tracking Aircraft 5000 miles away! Hak5 1615]
* How does an autopilot work in principle and which are the minimum requirements for stabilisation e.g..
* MEMS; Gyroscope, Accelerometer & Magnetometer, Barometer, what they can measure and what the autopilot can do with these measurements .
* Different Flight controller; Paparazzi, DJI Naza, Ardupilot, Multiwii.
* Paparazzi over the time, which controller has been used in the past (AVR -> LPC -> STM32).

<br style="clear:both">

{{#ev:youtube|f9AFSDn2AZU|200|left}}
[https://www.youtube.com/watch?v=f9AFSDn2AZU Drones 101: Open Source Autopilot, Hak5 1616]
* LisaMv2 with Aspirinv2.2 small overview.
* Paparazzi center walkthough, from (left to right) the code parts, to compiling and uploading.
* How paparazzi is released on github (stable and cutting edge).
* What do the Airframe, Flight Plan, Settings, Radio and Telemetry xml files do?
* Build the firmware with gcc and upload it to LisaMv2.
* LisaMv2's Bootloader mode.
* GCS walkthough with the basic components.
* Connect LisaMv2 via [[Programming_adapter#FLOSS_JTAG|Floss JTAG's]] uart port to the GCS.

<br style="clear:both">

{{#ev:youtube|fZbZTGCS4t8|200|left}}
[https://www.youtube.com/watch?v=fZbZTGCS4t8 Drone Assembly and Trunked Radio Systems, Hak5 1617]
* Assembling the Bumblebee carbon fiber airframe.
* Zip tie down the ESC cables and mounting the LisaMv2.

<br style="clear:both">

{{#ev:youtube|CQ6kD48WMxc|200|left}}
[https://www.youtube.com/watch?v=CQ6kD48WMxc Drone Wiring And Moving On From TrueCrypt With LUKS, Hak5 1618]
* Connecting peripherals on the quadrocopter (BEC, redundant Spektrum, telemetry modem, gps receiver).
* Connect to a power source (limited power supply / LiPo).
* Binding the Spektrum satelites with a bind plug over the LisaMv2.

<br style="clear:both">

{{#ev:youtube|ZwvRYLuXi0w|200|left}}
[https://www.youtube.com/watch?v=ZwvRYLuXi0w Finalizing The Drone and Text Obfuscation With FauxCrypt, Hak5 1619]
* Connect quadcopter with GCS
* Intro to Messages, Real-time Plotter.
* Calibrating the accelerometer and magnetometer.
* Maiden flight.

<br style="clear:both">

=Parrot Bebop=
{{#ev:youtube|QSfbz-rlOGM|200|left}} Paparazzi on the Parrot Bebop Drone - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]

<br style="clear:both">

=Parrot AR Drone=
{{#ev:youtube|eojAPZvT1Ck|200|left}} AR Drone Getting Started - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]

<br style="clear:both">

{{#ev:youtube|XZim32_bfpw|200|left}} AR Drone Autonomous Flight - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]

<br style="clear:both">

=How to become a Paparazzi Developer=

{{#ev:youtube|dpvFIdioJGs|200|left}} How to become a Paparazzi Developer - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]

<br style="clear:both">

=Paparazzi Software Installation=

{{#ev:youtube|eW0PCSjrP78|200|left}} Paparazzi Installation Linux - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]

<br style="clear:both">

= Other =

[[Lisa/M/Tutorial/FixedWing]]

[[Lisa/M/Tutorial/RotorCraft]]

[[User/LisaL/Tutorial/Quadrocopter]]

[[Lisa_Asctec_Bringup]]