Difference between revisions of "Bebop"
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== Pinout == | == Pinout == | ||
=== GPIO === | |||
* 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 | |||
* 129 Vertical camera enable | |||
* 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. esired 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 | |||
** MT9f002 CMOS [https://www.aptina.com/products/dsc%1Cdvc/mt9f002/ MT9f002] | |||
** MT9v117 VGA System-On-A-Chip (SOC) CMOS Digital Image Sensor [http://www.aptina.com/assets/downloadDocument.do?id=553 MT9v117] | |||
* I2C-1 | |||
** Cypress Motor Controller (Parrot 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) | |||
== Cross compiler == | == Cross compiler == | ||
Revision as of 09:34, 14 November 2014
The Bebop from 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 ceramic 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: (Fig.1)
- 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
- 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
- 129 Vertical camera enable
- 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. esired 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
- I2C-1
- I2C-2
- MPU6050 Gyro + Accel MPU6050
UART
- ttyPA1 GPS (Furuno GN-87F)
Cross compiler
For the Bebop you can't use the GNU gcc-arm-linux-gnueabi, which was used for the ARDrone 2 in the past. So this means the cross compiler isn't included in the paparazzi-dev package. The cross compiler you need for the Bebop is the Sourcery CodeBench Lite 2012.03-57 for ARM GNU/Linux from Mentor Graphics (previously codesourcery).
This cross compiler is available here: 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.