You upgraded to a version of firmware that does not support any of your AP models. Hopefully you have a backup of the config. You need to downgrade to the version of code that was running when the backup was created. When you do that, the controller will force a factory reset. When complete, you can run the startup wizard (no need to cofig anything other than the admin credentials and a static address). Next, restore the backup (restore all). If you still want to upgrade, the newest version that supports your APs is 10.2.1.0.183, and it is a good build.