From ecf988d564441203a28c119bb91130a347a9a237 Mon Sep 17 00:00:00 2001
From: crglick <crglick@iastate.edu>
Date: Sun, 27 Mar 2022 20:11:46 +0200
Subject: [PATCH] crazyflie groundstation, slowed down comm and increased num
of pending responses allowed
---
crazyflie_groundstation/src/ccrazyflie/CCrazyflie.cpp | 10 +---------
.../src/ccrazyradio/CCrazyRadio_loopFuncs.cpp | 2 +-
crazyflie_groundstation/src/userInput.cpp | 2 +-
3 files changed, 3 insertions(+), 11 deletions(-)
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie.cpp
index 5486bc4db..c03a37a5a 100644
--- a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie.cpp
+++ b/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);
}
diff --git a/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp
index 0b6830a2c..bc1dbc1d6 100644
--- a/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp
+++ b/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) {
diff --git a/crazyflie_groundstation/src/userInput.cpp b/crazyflie_groundstation/src/userInput.cpp
index bddd7fe76..84d95f710 100644
--- a/crazyflie_groundstation/src/userInput.cpp
+++ b/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];
--
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