Bebop fw3.2.0 fix (#1745)

* Fix motor order bebop firmware 3.2, and check for firmware version during upload * Also apply to other TUDelft airframes * Give user feedback in case of problems during upload to bebop
paparazzi · Jun 20, 2016 · 1da2da5 · 1da2da5
1 parent acfab3a
commit 1da2da5
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Showing 7 changed files with 38 additions and 30 deletions.
diff --git a/conf/airframes/TUDELFT/tudelft_bebop_autonomous_race.xml b/conf/airframes/TUDELFT/tudelft_bebop_autonomous_race.xml
@@ -55,10 +55,10 @@
   </commands>
 
   <servos driver="Default">
-    <servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
-    <servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
+    <servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="12000"/>
+    <servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="12000"/>
   </servos>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">

diff --git a/conf/airframes/TUDELFT/tudelft_bebop_indi.xml b/conf/airframes/TUDELFT/tudelft_bebop_indi.xml
@@ -46,10 +46,10 @@
   </commands>
 
   <servos driver="Default">
-    <servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
-    <servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
+    <servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="12000"/>
+    <servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="12000"/>
   </servos>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">

diff --git a/conf/airframes/TUDELFT/tudelft_bebop_mavlink.xml b/conf/airframes/TUDELFT/tudelft_bebop_mavlink.xml
@@ -78,10 +78,10 @@
   </commands>
 
   <servos driver="Default">
-    <servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
-    <servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
+    <servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="12000"/>
+    <servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="12000"/>
   </servos>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">

diff --git a/conf/airframes/TUDELFT/tudelft_bebop_opticflow.xml b/conf/airframes/TUDELFT/tudelft_bebop_opticflow.xml
@@ -56,10 +56,10 @@
   </commands>
 
   <servos driver="Default">
-    <servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
-    <servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
+    <servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="12000"/>
+    <servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="12000"/>
   </servos>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">

diff --git a/conf/airframes/examples/bebop.xml b/conf/airframes/examples/bebop.xml
@@ -49,10 +49,10 @@
   </commands>
 
   <servos driver="Default">
-    <servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
-    <servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
+    <servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="12000"/>
+    <servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="12000"/>
   </servos>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">

diff --git a/sw/tools/parrot/bebop.py b/sw/tools/parrot/bebop.py
@@ -122,16 +122,22 @@ def bebop_status():
     # Split filename and path
     f = parrot_utils.split_into_path_and_file(args.file)
 
-    print("Kill running " + f[1] + " and make folder " + args.folder)
-    parrot_utils.execute_command(tn,"killall -9 " + f[1])
-    sleep(1)
-    parrot_utils.execute_command(tn, "mkdir -p /data/ftp/" + args.folder)
-    print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
-    parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
-    sleep(0.5)
-    parrot_utils.execute_command(tn, "chmod 777 /data/ftp/" + args.folder + "/" + f[1])
-    parrot_utils.execute_command(tn, "/data/ftp/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &")
-    print("#pragma message: Upload and Start of ap.elf to Bebop succesful !")
+    #check firmware version
+    v = parrot_utils.check_version(tn, '').strip()
+    print("Checking Bebop firmware version... " + v )
+    if v != '3.2.0':
+        print("Error: please upgrade your Bebop firmware to version 3.2.0!")
+    else:
+        print("Kill running " + f[1] + " and make folder " + args.folder)
+        parrot_utils.execute_command(tn,"killall -9 " + f[1])
+        sleep(1)
+        parrot_utils.execute_command(tn, "mkdir -p /data/ftp/" + args.folder)
+        print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
+        parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
+        sleep(0.5)
+        parrot_utils.execute_command(tn, "chmod 777 /data/ftp/" + args.folder + "/" + f[1])
+        parrot_utils.execute_command(tn, "/data/ftp/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &")
+        print("#pragma message: Upload and Start of ap.elf to Bebop succesful !")
 
 elif args.command == 'upload_file':
     # Split filename and path

diff --git a/sw/tools/parrot/parrot_utils.py b/sw/tools/parrot/parrot_utils.py
@@ -96,6 +96,8 @@ def connect(host):
         return tn, ftp
     except:
         print('Could not connect to Parrot UAV (host: ' + host + ')')
+        if host == '192.168.42.1':
+            print("Check whether your WiFi is connected and don't forget pressing the power button 4 times after the Bebop has booted!")
         exit(2)
 
 # Close the telnet and ftp