Problem: When changing the Kc parameter via BSMP, the PID gets saturated
Possible solution: Add mutex between recv (), bsmp_process_packet (), send () to avoid race conditions. Also, we are using a blocking recv (). To effectively using a mutex () here, we would have to change the blocking recv () to use a non-blocking interface, such as select () or poll ().
Problem: When changing the Kc parameter via BSMP, the PID gets saturated
Possible solution: Add mutex between recv (), bsmp_process_packet (), send () to avoid race conditions. Also, we are using a blocking recv (). To effectively using a mutex () here, we would have to change the blocking recv () to use a non-blocking interface, such as select () or poll ().