Hi again,wuwushrek wrote: ↑Wed Jun 06, 2018 5:21 pmHi,
Interesting what you are saying ! Before testing that path (and Yes it is possible to implement something like that ), I'm currently working on another alternative. Maybe I will combine the two at the end (?).
I will keep you updated when things will be better with multiple cf.
Sorry for late update. In the meantime, I tried to implement a router layer that will transmit CRTP packets from Crazyflie(s) to SITL. I have used simple python SocketServer API; however, the ACK packets sent from SITL to Crazyflie(s) have faced timeout issues in my every experimental run. Should I try socket API of C (I am not sure it will increase the speed of networking in local computer)? Should I send you my source code for Router (or the whole package with my modifications explained)?
Before implementing Router layer, I tried to connect 2 Crazyflies to the same SITL by setting the destination ports the same, but I could not get RESET KALMAN FILTERS DONE and therefore, could not make any of Crazyflies fly. Also, I tried to open another socket in SITL and tried to connect 2 Crazyflies to those sockets accordingly. This requires a new task to be opened, though. However, I think there is a risk of miscommunication as the task management in SITL is set to process 1 packet at a time (socketlinkTask calls socketlinkReceiveCRTPPacket and socketlinkSendPacket). Even though it somewhat queues the packets, SITL does not actually know whose packet it deals with, right? At least that's what I understood from it.
I'd be glad if you tell us what you are working on SITL to improve the performance.