crazyflie groundstation, slowed down comm and increased num of pending responses allowed

crazyflie_groundstation/src/ccrazyflie/CCrazyflie.cpp

@@ -32,8 +32,6 @@
 #include <pthread.h>
 #include "CCrazyflie.h"
 #include "CCrazyRadio.h"
-
-int everyX = 0;
  
 CCrazyflie::CCrazyflie(CCrazyRadio *crRadio, int nRadioChannel, XferRate dataRate, int quadNum, double startTime) {
 	m_quadNum = quadNum;
@@ -351,13 +349,7 @@ bool CCrazyflie::cycle() {
 			this->m_sendPosition = false;
 		} else {
 			// Send a dummy packet for keepalive otherwise
-			//TODO this is a hacky fix to limit amount of data sent, should use a timer instead
-			if(everyX >= 100){
-				m_crRadio->sendDummyPacket(m_nRadioChannel, this);
-				everyX = 0;
-			}else{
-				everyX++;
-			}
+			m_crRadio->sendDummyPacket(m_nRadioChannel, this);
 			
 		}
 

crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp

@@ -23,7 +23,7 @@ void CCrazyRadio::mainLoop() {
 			(*it)->writeLogData();
 		}
 
-		usleep(200);
+		usleep(1000);
 
 		// Check if the thread has been told to terminate
 		if (this->m_exitThread) {

crazyflie_groundstation/src/userInput.cpp

@@ -43,7 +43,7 @@ int max_fd = 0;
 
 #define MAX_CLIENTS 32
 #define CLIENT_BUFFER_SIZE 64
-#define CLIENT_MAX_PENDING_RESPONSES 15
+#define CLIENT_MAX_PENDING_RESPONSES 64
 static struct command* client_buffers[MAX_CLIENTS][CLIENT_BUFFER_SIZE];
 static int client_fds[MAX_CLIENTS];
 static int client_pending_responses[MAX_CLIENTS][CLIENT_MAX_PENDING_RESPONSES];