50-drone mocap system

[jath03]

Hi, I'm working on getting a bunch of crazyflies to work in a large space set up with a vicon system. I've gotten 9 to work on a single radio, and would like to scale it up. I've read in other discussions here that multiple radios will not scale linearly because all of the mocap data is being sent to all drones. Theoretically could 50 (single marker) drones work as is? I assume not, especially when I try to use cmd_full_state on all of them. I know that segmenting mocap data by radio was done in crazyswarm 1 and someone mentioned implementing the same behavior in crazyswarm 2 in the future. I plan on doing that, and I'd appreciate any pointers for getting started.

[whoenig]

For single markers, you can send 4 positions/packet. That means for 50 drones, you need 13 packets. You can send about 800 packets/second, so this might be working with an update frequency of 50 Hz.

To change the code, essentially https://github.com/IMRCLab/crazyswarm2/blob/main/crazyflie/src/crazyflie_server.cpp#L985-L1027 has to be adjusted. One needs to loop over the broadcasters, inside that loop assemble the packets for all the CFs that are supported by that particular broadcaster and send them.