Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

cpp backend: process all incoming radio messages #329

Merged
merged 1 commit into from
Nov 15, 2023
Merged

cpp backend: process all incoming radio messages #329

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion crazyflie/deps/crazyflie_tools
Open in desktop
Submodule crazyflie_tools updated 2 files
+1 −1 .github/workflows/cmake_mac.yml
+1 −1 crazyflie_cpp
9 changes: 7 additions & 2 deletions crazyflie/src/crazyflie_server.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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();
Expand Down Expand Up @@ -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
Expand Down
Loading