search

whoenig / crazyflie_cpp

C++ Library to communicate with Bitcraze Crazyflie
MIT License
21 stars 38 forks source link

Update Crazyflie.h #3

Closed yotamgani closed 6 years ago

yotamgani commented 6 years ago

Update timeout to support swarm Crazyflies using on-board controller.

whoenig commented 6 years ago

I also saw the need to increase the timing a bit. However, waiting up to 5 seconds seems very long (that essentially means it will take 5 seconds before a timeout error happens even for the simple command line tools in crazyflie_tools). Did you choose the values ad-hoc, or do you really need such large values? In the later case, are you running inside a VM?

yotamgani commented 6 years ago

We started by changing the timeout to 1 second (twice the default) and it still wasn't enough. So we increased it to 5 seconds (10 times the default) and it worked. It was probably not a tight bound. Yes, we are using the bitcraze VM mainly because the Motive application of the OptiTrack system runs on Windows. We have set the network in a way that VRPN packets will be sent on localhost and read by the VM on the same machine to reduce network latency. Personally, I think that even 5 seconds is a reasonable price to pay to allow the project to be more robust and enable VM users to launch swarm applications with no issues. I believe that there are many VM users like us that use the official bitcraze VM to launch the crazyflie.

whoenig commented 6 years ago

Thanks!