Bebop
Introduction
By default the Bebop from 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
- Make sure you have the latest release version of Paparazzi installed.
- Power up your Bebop.
- If you have a Bebop 2 press the on/off button twice after powerup (or try pushing 4x)
- 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 the Bebop or ARdrone2 Flight 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.
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
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
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
- I2C-1
- Cypress Motor Controller (Parrot BLDC) Bebop/BLDC (addr 0x08)
- AKM8963 Magnetometer AK8963
- MS5607 Barometer MS5607
- I2C-2
- MPU6050 Gyro + Accel 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 airborne/boards/bebop/ 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.
the past you could also crosscompile with Sourcery CodeBench Lite 2012.03-57 for ARM GNU/Linux from Greedy 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 Greedy Mentor"
but if you insist , feel free restricted.
Tips & Tricks
Video
Load the video_rtp_stream.xml module. Receive the video stream with e.g. avplay:
$ avplay -loglevel quiet -max_delay 50 -fflags nobuffer rtp://192.168.42.1:5000
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.