Plan how to handle multiple instances of the software running and sending updates to drones

[tessmichi]

Should this be responded to with similar results as the kill switch?

This issue also includes implementing this change, or creating another Issue when the implementation is defined.

See more detail in the comment by Dennis on this issue

[dennisss]

I wouldn't do multiple 'instances' per se. Mixing of grouping and the fact that all the mocap data is shared in memory would probably be easier with multiple threads of one program:

My idea for a general threading model:

• 1 thread for setting which Controller(s) each drone Vehicle should use
• 8 (1 per drone) to run the constant 100Hz update loops with each Vehicle's current controller
  • We will need to profile how expensive the polynomial evaluation actually is to see if this many is necessary

We also already use these other threads:

• Motion capture/Simulator data receiving thread
• A thread to receive data like heartbeats/states from all connected Vehicles