From ff56b97d7473a4e6f559ef0ad6c3544c21b66b86 Mon Sep 17 00:00:00 2001
From: Christophe De Wagter <dewagter@gmail.com>
Date: Wed, 18 Mar 2026 12:07:47 +0100
Subject: [PATCH] Fix bebop camera startup and view video with gstreamer
 (#3615)

* [conf] gstreamer instead of vlc
* Quickfix for now video

At first boot of a Bebop1, the camera did not work. Wait half a second more,  and the camera works now also at 1st boot time.

* OpenCV 4.10

---------

Co-authored-by: OpenUAS <OpenUAS@users.noreply.github.com>
---
 conf/userconf/tudelft/course_control_panel.xml | 14 +++++++++++++-
 sw/airborne/boards/bebop/mt9f002.c             |  2 +-
 sw/airborne/boards/bebop/mt9v117.c             |  6 +++---
 3 files changed, 17 insertions(+), 5 deletions(-)

diff --git a/conf/userconf/tudelft/course_control_panel.xml b/conf/userconf/tudelft/course_control_panel.xml
index f7d1c2ad32..7e08e91e52 100644
--- a/conf/userconf/tudelft/course_control_panel.xml
+++ b/conf/userconf/tudelft/course_control_panel.xml
@@ -1,6 +1,7 @@
 <control_panel name="paparazzi control panel">
   <section name="programs">
     <program name="UnifiedMoCap" command="sw/ext/unifiedmocaprouter/build/mocap-router"/>
+    <program name="GST" command="/usr/bin/gst-launch-1.0"/>
   </section>
   <section name="sessions">
 
@@ -29,6 +30,12 @@
         <arg flag="-s" constant="1"/>
         <arg flag="-r" constant="3"/>
       </program>
+      <program name="GST" command="/usr/bin/gst-launch-1.0">
+        <arg flag="udpsrc"/>
+        <arg flag="port=5000"/>
+        <arg flag="caps=application/x-rtp,payload=26"/>
+        <arg flag="! rtpjpegdepay ! jpegdec ! videoflip method=counterclockwise ! autovideosink"/>
+      </program>
       <program name="VLC">
         <arg flag="./sw/tools/rtp_viewer/rtp_5000.sdp"/>
       </program>
@@ -76,8 +83,13 @@
       <program name="VLC">
         <arg flag="./sw/tools/rtp_viewer/rtp_6000.sdp"/>
       </program>
+      <program name="GST" command="/usr/bin/gst-launch-1.0">
+        <arg flag="udpsrc"/>
+        <arg flag="port=5000"/>
+        <arg flag="caps=application/x-rtp,payload=26"/>
+        <arg flag="! rtpjpegdepay ! jpegdec ! videoflip method=counterclockwise ! autovideosink"/>
+      </program>
     </session>
-
     <session name="Distance Counter">
       <program name="Optitrack Distance Counter"/>
     </session>
diff --git a/sw/airborne/boards/bebop/mt9f002.c b/sw/airborne/boards/bebop/mt9f002.c
index 9f2a6f469c..627873a844 100644
--- a/sw/airborne/boards/bebop/mt9f002.c
+++ b/sw/airborne/boards/bebop/mt9f002.c
@@ -1049,7 +1049,7 @@ void mt9f002_init(struct mt9f002_t *mt)
 
   /* Software reset */
   write_reg(mt, MT9F002_SOFTWARE_RESET, 0x1, 1);
-  usleep(1000000); // Wait for one second
+  usleep(1500000); // Wait 1.5 seconds to give time for reset to finish
 
   /* Based on the interface configure stage 1 */
   if (mt->interface == MT9F002_MIPI || mt->interface == MT9F002_HiSPi) {
diff --git a/sw/airborne/boards/bebop/mt9v117.c b/sw/airborne/boards/bebop/mt9v117.c
index ff9f565fed..573eca4c4d 100644
--- a/sw/airborne/boards/bebop/mt9v117.c
+++ b/sw/airborne/boards/bebop/mt9v117.c
@@ -244,7 +244,7 @@ static void write_reg(struct mt9v117_t *mt, uint16_t addr, uint32_t val, uint16_
   }
 
   // Transmit the buffer
-  i2c_blocking_transmit(mt->i2c_periph, &mt->i2c_trans, MT9V117_ADDRESS, len + 2, 0.5);
+  i2c_blocking_transmit(mt->i2c_periph, &mt->i2c_trans, MT9V117_ADDRESS, len + 2, 0.1);
 }
 
 /**
@@ -257,7 +257,7 @@ static uint32_t read_reg(struct mt9v117_t *mt, uint16_t addr, uint16_t len)
   mt->i2c_trans.buf[1] = addr & 0xFF;
 
   // Transmit the buffer and receive back
-  i2c_blocking_transceive(mt->i2c_periph, &mt->i2c_trans, MT9V117_ADDRESS, 2, len, 0.5);
+  i2c_blocking_transceive(mt->i2c_periph, &mt->i2c_trans, MT9V117_ADDRESS, 2, len, 0.1);
 
   /* Fix sigdness */
   for (uint8_t i = 0; i < len; i++) {
@@ -315,7 +315,7 @@ static inline void mt9v117_write_patch(struct mt9v117_t *mt)
     }
 
     // Transmit the buffer
-    i2c_blocking_transmit(mt->i2c_periph, &mt->i2c_trans, mt->i2c_trans.slave_addr, mt9v117_patch_lines[i].len, 0.5);
+    i2c_blocking_transmit(mt->i2c_periph, &mt->i2c_trans, mt->i2c_trans.slave_addr, mt9v117_patch_lines[i].len, 0.1);
   }
 
   write_reg(mt, MT9V117_LOGICAL_ADDRESS_ACCESS, 0x0000, 2);