From 3eb368b027207e876ae3abbec508aa08f76bcd83 Mon Sep 17 00:00:00 2001
From: Youssof <youssof@spirirobotics.com>
Date: Tue, 18 Jun 2024 11:54:42 -0300
Subject: [PATCH] Decrease buffer size and slowdown send rate

---
 src/CommunicationManager.cpp | 6 +++---
 src/Xbee.cpp                 | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp
index 4fc86a5..4cad263 100644
--- a/src/CommunicationManager.cpp
+++ b/src/CommunicationManager.cpp
@@ -22,7 +22,7 @@ namespace Xbee
 //*****************************************************************************
 CommunicationManager::CommunicationManager() :
   START_DLIMITER(static_cast<unsigned char>(0x7E)),
-  LOOP_RATE(10), /* 10 fps */
+  LOOP_RATE(5), /* 5 fps */
   DEFAULT_RATE_DIVIDER_RSSI(5),
   DEFAULT_RATE_DIVIDER_PACKET_LOSS(20),
   DEFAULT_RSSI_PAYLOAD_SIZE(10),
@@ -427,7 +427,7 @@ bool CommunicationManager::getRosParams()
   
   if (node_handle_.getParam("Xbee_In_From_Buzz", out_messages_topic))
   {
-    mavlink_subscriber_ = node_handle_.subscribe(out_messages_topic.c_str(), 100,
+    mavlink_subscriber_ = node_handle_.subscribe(out_messages_topic.c_str(), 10,
                                                  &CommunicationManager::Send_Mavlink_Message_Callback, this);
     success_get_param_in_topic = true;
   }
@@ -439,7 +439,7 @@ bool CommunicationManager::getRosParams()
   if (node_handle_.getParam("Xbee_Out_To_Buzz", in_messages_topic))
   {
     mavlink_publisher_ = node_handle_.advertise<mavros_msgs::Mavlink>(
-      in_messages_topic.c_str(), 100);
+      in_messages_topic.c_str(), 10);
     success_get_param_out_topic = true;
   }
   else
diff --git a/src/Xbee.cpp b/src/Xbee.cpp
index 51448a5..ad3e5dc 100644
--- a/src/Xbee.cpp
+++ b/src/Xbee.cpp
@@ -47,7 +47,7 @@ int main(int argc, char *argv[]) {
 
     //setupXBee(device, static_cast<std::size_t>(baud_rate));
 
-    std::cout << "Going to init !!!!" << std::endl;
+    std::cout << "Initializing..." << std::endl;
 
     if (communication_manager.Init(device, static_cast<std::size_t>(baud_rate)))
     {