Difference between revisions of "Parrot Bebop"
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=Tips= |
=Tips= |
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+ | ==Get info== |
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+ | <pre> |
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+ | BLDC_Test_Bench -I |
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+ | ### Motor Test Bench For Mykonos3 project |
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+ | ### BLDC firmware: 1.21.R for 4 motors |
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+ | ### |
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+ | *** MTB will control 4 motors *** |
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+ | *** Warning: the BLDC firmware has not been compiled in test bench mode this will disable some options ! *** |
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+ | *** Warning: the BLDC firmware has not been compiled to manage motor settings ! *** |
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+ | >> I |
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+ | Get BLDC infos. |
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+ | * Version is: '1.21.R.4' |
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+ | * Flight infos: |
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+ | Number of flights: 33 |
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+ | Previous flight time: 56 seconds (0 days, 0 hours, 0 min, 56 s) |
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+ | Total flight time: 2200 seconds (0 days, 0 hours, 36 min, 40 s) |
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+ | Last error: 'No error detected' |
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+ | </pre> |
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==Read battery== |
==Read battery== |
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BLDC_Test_Bench -n -O|cut -d" " -f 5 |
BLDC_Test_Bench -n -O|cut -d" " -f 5 |
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=> 11.6V |
=> 11.6V |
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<br>9.5V is considered as low battery level and drone will shut down. |
<br>9.5V is considered as low battery level and drone will shut down. |
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+ | ==Button== |
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+ | * Short press: shut down |
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+ | * Long press: switch wifi band (will light orange LED for 2 secs) |
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+ | * Very long press: (how much?): factory reset? (will light red LED) |
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+ | |||
==Music== |
==Music== |
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Bebop can play music with its motors :) |
Bebop can play music with its motors :) |
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* Orange LED: |
* Orange LED: |
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BLDC_Test_Bench -G 1 1 0 |
BLDC_Test_Bench -G 1 1 0 |
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+ | ==Shutdown== |
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− | |||
+ | Proper shutdown via telnet: |
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+ | ardrone3_shutdown.sh |
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==sniffing protocol== |
==sniffing protocol== |
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* https://github.com/Zepheus/ardrone3-pcap sniffing protocol |
* https://github.com/Zepheus/ardrone3-pcap sniffing protocol |
Latest revision as of 00:28, 17 October 2015
Weight
Bebop 275g bat 1200 117g bat 1600 135g bat 2500 189g hull/carene 24g cache-cam 6g
Links
Officials
ARDroneSDK 3
- http://blog.parrot.com/2014/11/28/ardronesdk3-for-bebop-drone-and-minidrones-has-been-released/
- https://github.com/Parrot-Developers/ARSDKBuildUtils
- https://github.com/Parrot-Developers/Samples
- https://github.com/Parrot-Developers/bybop in python
Community
- http://www.bebopdrone.org/
- http://forum.parrot.com/usa/viewtopic.php?id=29088
- http://bebob.wikia.com/wiki/Bebob_Community_Drone_Hacking_Wiki
Hacks
- https://github.com/matthewlloyd/bebop Code repo disappeared but clones here:
- http://robotika.cz/robots/katarina/en
- https://github.com/hybridgroup/node-bebop control in node.js
Paparazzi
- http://wiki.paparazziuav.org/wiki/Main_Page
- http://wiki.paparazziuav.org/wiki/Bebop
- https://github.com/paparazzi/paparazzi
- https://github.com/paparazzi/paparazzi/tree/master/sw/airborne/boards/bebop
Security
Too easy to crash
http://securityaffairs.co/wordpress/39363/hacking/hacking-parrot-drones.html
telnet 192.168.42.1 ps | grep dragon kill -9 ###
Actually there is even quicker:
telnet 192.168.42.1 kk
WEP?
Apparently possible to setup WEP, or even WPA?
bcmwl addwep 0 1234567890 bcmwl wsec 1
Permanent (! reset wouldn't clean it, maybe flashing from USB?)
vi /sbin/broadcom_setup.sh At the end of the create_access_point Before the print out of success add the two lines: ------------- bcmwl addwep 0 1234567890 bcmwl wsec 1
Problem is that it may impact link quality and anyway it's incompatible with a SkyController...
telnet password
That's the minimum we can do:
telnet 192.168.42.1 # choose a new password passwd # fix bug in /etc/passwd (trailing spaces after /bin/sh) sed -i 's/ *$//' /etc/passwd # redirect root home to /home (where there is already a .bashrc) sed -i 's#/home/root#/home#' /etc/passwd # move shell history mv /.ash_history /home/ # redirect telnet login to /bin/login sed -i 's/sh -l/login/' /bin/login.sh # reboot /bin/ardrone3_shutdown.sh
open ports
- TCP port 21: ftp via inetd, serves /data/ftp
- TCP port 23: telnetd
- TCP port 51: ftp via inetd, serves /update
- TCP port 44444: dragon-prog
- UDP port 67: udhcpd
- UDP port 5353: avahi (mDNS)
ftp://192.168.42.1/internal_000/ ftp://192.168.42.1:51/ telnet 192.168.42.1
avahi
apt-get install avahi-utils avahi-browse -a --resolve + wlan1 IPv6 WifiFonHotspot [xx:xx:xx:xx:xx:xx] Workstation local hostname = [WifiFonHotspot.local] address = [192.168.42.1] + wlan1 IPv6 WifiFonHotspot _arsdk-0901._udp local hostname = [WifiFonHotspot.local] address = [192.168.42.1] port = [44444] txt = ["{"device_id":"PIXXXXXXXXXXXXXXXX"}"]
Tips
Get info
BLDC_Test_Bench -I ### Motor Test Bench For Mykonos3 project ### BLDC firmware: 1.21.R for 4 motors ### *** MTB will control 4 motors *** *** Warning: the BLDC firmware has not been compiled in test bench mode this will disable some options ! *** *** Warning: the BLDC firmware has not been compiled to manage motor settings ! *** >> I Get BLDC infos. * Version is: '1.21.R.4' * Flight infos: Number of flights: 33 Previous flight time: 56 seconds (0 days, 0 hours, 0 min, 56 s) Total flight time: 2200 seconds (0 days, 0 hours, 36 min, 40 s) Last error: 'No error detected'
Read battery
BLDC_Test_Bench -n -O|cut -d" " -f 5 116
=> 11.6V
9.5V is considered as low battery level and drone will shut down.
Button
- Short press: shut down
- Long press: switch wifi band (will light orange LED for 2 secs)
- Very long press: (how much?): factory reset? (will light red LED)
Music
Bebop can play music with its motors :)
Try e.g. changing the following setting in /etc/debug.conf:
#play bebop-a-lula at start up play_startup_sound=1
"Music" is controlled by BLDC_Test_Bench -M
- Normal startup:
BLDC_Test_Bench -M 1
- Short blip:
BLDC_Test_Bench -M 2
- Bebop-a-lula:
BLDC_Test_Bench -M 3
- Loop play normal startup:
BLDC_Test_Bench -M -1
- Stop loop play:
BLDC_Test_Bench -M 0
Light
- Green LED:
BLDC_Test_Bench -G 0 1 0
- Red LED:
BLDC_Test_Bench -G 1 0 0
- Orange LED:
BLDC_Test_Bench -G 1 1 0
Shutdown
Proper shutdown via telnet:
ardrone3_shutdown.sh
sniffing protocol
- https://github.com/Zepheus/ardrone3-pcap sniffing protocol
Misc data
ps ax
PID USER TIME COMMAND 1 root 0:02 init 2 root 0:00 [kthreadd] 3 root 0:00 [ksoftirqd/0] 4 root 0:00 [kworker/0:0] 5 root 0:00 [kworker/u:0] 6 root 0:00 [migration/0] 7 root 0:00 [watchdog/0] 8 root 0:00 [migration/1] 9 root 0:00 [kworker/1:0] 10 root 0:00 [ksoftirqd/1] 11 root 0:00 [watchdog/1] 12 root 0:00 [khelper] 13 root 0:00 [kdevtmpfs] 14 root 0:00 [netns] 15 root 0:00 [irq/1-p7mu] 16 root 0:00 [sync_supers] 17 root 0:00 [bdi-default] 18 root 0:00 [kblockd] 19 root 0:00 [khubd] 20 root 0:00 [rpciod] 21 root 0:00 [kworker/0:1] 22 root 0:00 [khungtaskd] 23 root 0:00 [kswapd0] 24 root 0:00 [fsnotify_mark] 25 root 0:00 [nfsiod] 26 root 0:00 [cifsiod] 27 root 0:00 [crypto] 37 root 0:00 [ubi_bgt0d] 38 root 0:00 [ubi_bgt1d] 39 root 0:00 [ubi_bgt2d] 40 root 0:00 [ci_otg] 41 root 0:00 [ci_otg] 42 root 0:00 [f_mtp] 43 root 0:00 [file-storage] 44 root 0:00 [kworker/1:1] 45 root 0:00 [deferwq] 46 root 0:00 [kworker/u:1] 54 root 0:00 [ubifs_bgt1_0] 80 root 0:00 [flush-ubifs_1_0] 103 root 0:00 /usr/bin/gpio_monitor /sys/devices/platform/user_gpio/USER_ON_OFF /bin/onoffbutton 170 root 0:00 [ubifs_bgt0_0] 171 root 0:00 [ubifs_bgt2_1] 172 root 0:00 [ubifs_bgt2_0] 201 root 0:00 udevd --daemon 210 root 0:00 udevd --daemon 211 root 0:00 udevd --daemon 228 root 0:00 [usb-thread] 232 root 0:00 [wl-thread] 342 root 0:00 udhcpd /etc/udhcpd.conf.eth0 351 root 0:00 {rcS} /bin/sh /etc/init.d/rcS 353 root 0:00 /usr/bin/ujubaclient 354 root 0:00 logger -t ujubaclient -p user.info 394 root 0:00 [irq/44-mmc0] 395 root 0:00 [kworker/u:2] 412 root 0:00 [mmcqd/0] 413 root 0:00 [mmcqd/0boot0] 414 root 0:00 [mmcqd/0boot1] 416 root 0:00 [spi1] 456 root 0:00 [jbd2/mmcblk0-8] 457 root 0:00 [ext4-dio-unwrit] 465 root 0:00 [kworker/0:2] 480 root 0:00 syslogd -s 1024 -b 4 493 root 0:00 eRide_aiding /data/ftp/internal_000/gps_data/eRide_data.bin 504 root 0:00 /usr/bin/usb_mode /sys/devices/platform/user_gpio/HOST_MODE_3V3 /sys/devices/platform/user_gpio/USB0_OC 508 root 0:00 {mtp_server.sh} /bin/sh /bin/mtp_server.sh start 519 root 0:00 inetd 524 root 0:00 avahi-daemon: running [WifiFonHotspot.local] 618 root 0:00 {ckcmd_redirect.} /bin/sh /usr/bin/ckcmd_redirect.sh 619 root 0:00 tail -F /var/log/messages 620 root 0:00 /usr/bin/awk -f /usr/bin/ckcmd_redirect.awk 622 root 0:00 /usr/bin/ulogger -t syslog -p I 623 root 0:00 telnetd -l /bin/login.sh 631 root 0:00 ulogcat -v ckcm 664 root 0:00 [flush-ubifs_2_1] 665 root 0:00 [flush-ubifs_0_0] 666 root 0:00 [flush-ubifs_2_0] 667 root 0:00 [flush-179:0] 675 root 0:00 poll_file -w /sys/devices/platform/ci_hdrc.0/udc/ci_hdrc.0/state 684 root 0:00 /usr/bin/bcm-watchdog 687 root 0:00 {DragonStarter.s} /bin/sh - /usr/bin/DragonStarter.sh -out2null 689 root 0:00 macgyverd -f 695 root 0:35 //usr/bin/dragon-prog 703 root 0:00 init 704 root 0:00 init 705 root 0:00 /sbin/klogd -n
pstree
init-+-DragonStarter.s-+-dragon-prog-+-{Behaviour} | | |-{CKCM SERVER} | | |-{Mario} | | |-{MassStorage} | | |-{NavdataSend} | | |-{NetworkMonitor} | | |-{Ntwk msgbox} | | |-{NtwkDiscConnec} | | |-2*[{ParrotAL_TIMER}] | | |-{Photo Capture} | | |-{Photo Record} | | |-{Thread leds} | | |-{Thread ms5607} | | |-3*[{VideoMain}] | | |-{colibry} | | |-2*[{h264_venc}] | | |-{hal} | | |-{libgps_thread} | | |-{thread_dxo} | | |-{thread_us} | | |-{thread_videoWi} | | |-{thread_video_l} | | |-3*[{v4l2:/dev/vide}] | | |-{video_fix} | | `-{video_rec} | `-macgyverd |-avahi-daemon |-bcm-watchdog |-ckcmd_redirect.-+-awk | |-tail | `-ulogger |-eRide_aiding |-gpio_monitor |-inetd |-2*[init] |-klogd |-mtp_server.sh---poll_file |-rcS-+-logger | `-ujubaclient-+-{Juba monitor} | `-{jbd_run} |-syslogd |-telnetd |-udevd---2*[udevd] |-udhcpd |-ulogcat `-usb_mode
mount
rootfs on / type rootfs (rw) proc on /proc type proc (rw,relatime) dev on /dev type devtmpfs (rw,relatime,size=165664k,nr_inodes=41416,mode=755) tmp on /tmp type tmpfs (rw,relatime) sys on /sys type sysfs (rw,relatime) debug on /sys/kernel/debug type debugfs (rw,relatime) devpts on /dev/pts type devpts (rw,relatime,mode=600) none on /dev/cpuctl type cgroup (rw,relatime,cpu) ubi0:factory on /factory type ubifs (rw,relatime) ubi1:system on / type ubifs (rw,relatime) ubi2:data on /data type ubifs (rw,relatime) ubi2:update on /update type ubifs (rw,sync,relatime) /dev/mmcblk0 on /data/ftp/internal_000 type ext4 (rw,noatime,discard,nobarrier,data=writeback)
df -h
Filesystem Size Used Available Use% Mounted on ubi1:system 42.2M 29.4M 10.7M 73% / ubi0:factory 4.8M 100.0K 4.4M 2% /factory ubi2:data 9.0M 96.0K 8.4M 1% /data ubi2:update 28.0M 32.0K 26.5M 0% /update /dev/mmcblk0 7.2G 2.2G 5.0G 30% /data/ftp/internal_000 dev 161.8M 0 161.8M 0% /dev tmp 161.9M 48.0K 161.8M 0% /tmp
netstat -ltun
Active Internet connections (only servers) Proto Recv-Q Send-Q Local Address Foreign Address State tcp 0 0 127.0.0.1:23059 0.0.0.0:* LISTEN tcp 0 0 0.0.0.0:51 0.0.0.0:* LISTEN tcp 0 0 0.0.0.0:21 0.0.0.0:* LISTEN tcp 0 0 0.0.0.0:44444 0.0.0.0:* LISTEN tcp 0 0 :::23 :::* LISTEN udp 0 0 0.0.0.0:5353 0.0.0.0:* udp 0 0 0.0.0.0:67 0.0.0.0:* udp 0 0 :::5353 :::*