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Bebop Specs

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!

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

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)
  • eRide handles the software intricacies for the 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
  • Developing: Open-source SDK (for interfacing with it from an offboard computer)

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) MT9f002 (addr 0x10)
    • MT9v117 CMOS Digital Image Sensor (1/6 inch VGA, bottom camera) MT9v117 (addr 0x5d)
  • I2C-1
    • Cypress Motor Controller (Parrot BLDC) Bebop/BLDC (addr 0x08)
    • AKM8963 Magnetometer AK8963
    • MS5607 Barometer MS5607
  • I2C-2

SPI

  • spidev1.0 Sonar (Only data pin connected for generating pulses)

UART

  • ttyPA1 GPS (Furuno GN-87F)

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. 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.

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.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 GreedyMentor" 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 

Sockets Used

/ # lsof -i | grep socket

Executable Socket Description
/usr/bin/udevd 269  
/usr/bin/udevd 270  
/usr/bin/udevd 271  
/usr/bin/udevd 272  
/usr/bin/udevd 298  
/usr/bin/udevd 272  
/usr/bin/udevd 299  
/usr/bin/udevd 272  
/bin/busybox 926  
/usr/bin/ujubaclient 947  
/usr/bin/ujubaclient 948  
/bin/busybox 1559  
/bin/busybox 1587  
/bin/busybox 2342  
/bin/busybox 2343  
/usr/sbin/avahi-daemon 2358  
/usr/sbin/avahi-daemon 2361  
/usr/sbin/avahi-daemon 2362  
/usr/sbin/avahi-daemon 2363  
/usr/sbin/avahi-daemon 2364  
/bin/busybox 1886  
/bin/busybox 408174  
/bin/busybox 484161  
/usr/bin/ulogcat 2584  
/usr/bin/ulogcat 2585  
/usr/bin/bcm-watchdog 1935  
/usr/bin/dragon-prog 2619  
/usr/bin/dragon-prog 2682  
/usr/bin/dragon-prog 2685  
/usr/bin/dragon-prog 2862  
/bin/busybox 1939  

Ports Used

/ # netstat -nat
Port  

Proto

Description

21

TCP FTP

23

TCP Telnet

51

TCP

 

23059

TCP  

43210
TCP BD_D2C_PORT

44444

TCP Discovery Port
54321 TCP BD_C2D_PORT

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.