Merge pull request #329 from IMRCLab/issue300

cpp backend: process all incoming radio messages
IMRCLab · Nov 15, 2023 · ad90477 · ad90477
2 parents 13cb67f + 4bad810
commit ad90477
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools
diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp
@@ -141,7 +141,11 @@ class CrazyflieROS
  subscription_cmd_position_ = node->create_subscription<crazyflie_interfaces::msg::Position>(name + "/cmd_position", rclcpp::SystemDefaultsQoS(), std::bind(&CrazyflieROS::cmd_position_changed, this, _1), sub_opt_cf_cmd);
 
  // spinning timer
- spin_timer_ = node->create_wall_timer(std::chrono::milliseconds(100), std::bind(&CrazyflieROS::spin_once, this), callback_group_cf_srv);
+ // used to process all incoming radio messages
+ spin_timer_ =
+ node->create_wall_timer(
+ std::chrono::milliseconds(1),
+ std::bind(&CrazyflieROS::spin_once, this), callback_group_cf_srv);
 
 
  auto start = std::chrono::system_clock::now();
@@ -367,7 +371,8 @@ class CrazyflieROS
 
  void spin_once()
  {
- cf_.spin_once();
+ // process all packets from the receive queue
+ cf_.processAllPackets();
  }
 
  std::string broadcastUri() const