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You already answered your own question, you have to upgrade controller services before you can upgrade compute nodes. Regarding the version mismatch in your case it might be resolved by adjusting upgrade levels, it reads:

During an upgrade, operators can add configuration options to nova.conf which lock the version of RPC messages and allow live upgrading of the services without interruption caused by version mismatch. The configuration options allow the specification of RPC version numbers if desired, but release name alias are also supported. For example:


I haven't used these upgrade_levels myself, so I'm not sure if it will work. But for the upgrade order this doc illustrates it quite well.