From e4bc9bb7a0dcddef2b02748550518f5d032e5108 Mon Sep 17 00:00:00 2001 From: vivek-shankar Date: Sun, 29 Jan 2017 05:10:22 -0500 Subject: [PATCH] changes in loop rate and to overcome reberve wave of multi msg --- src/CommunicationManager.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp index 2f5ab85..fd45cf1 100644 --- a/src/CommunicationManager.cpp +++ b/src/CommunicationManager.cpp @@ -44,7 +44,7 @@ namespace Xbee //***************************************************************************** CommunicationManager::CommunicationManager(): START_DLIMITER(static_cast(0x7E)), - LOOP_RATE(10) /* 10 fps */ + LOOP_RATE(50) /* 10 fps */ { } @@ -169,7 +169,7 @@ void CommunicationManager::Run_In_Swarm_Mode() { ros::Rate loop_rate(LOOP_RATE); - + counter=0; while (ros::ok()) { Check_In_Messages_and_Transfer_To_Topics(); @@ -378,6 +378,11 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() multi_msgs_receive.clear(); receiver_cur_checksum=0; } + /*T0 overcome mesages after the stop transmission of multi packet*/ + if(counter!=0){ + multi_msgs_receive.clear(); + counter--; + } uint64_t current_int64 = 0; for (std::size_t j = 0; j < size_in_messages; j++) { @@ -473,6 +478,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics() mavlink_publisher_.publish(mavlink_msg); multi_msgs_receive.clear(); receiver_cur_checksum=0; + counter=10; } steps=0;