However, once I add a very simple functionality in the crazyflie-firmware app layer to send some data STM32 -> GAP8, I observe communication stalls for WiFi. In particular, the frame rate is initially also 10fps and quickly (after 10sec) drops to 0.1 fps. If I enable UART logging on the ESP32
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esp_log_level_set("ROUTER", ESP_LOG_DEBUG);
Any thoughts?
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#define TASK_FREQ 10
typedef struct
{
// some data
} __attribute__((packed)) StatePacket_t;
// static StatePacket_t cf_state;
static CPXPacket_t cpx_packet;
void appMain()
{
uint32_t lastWakeTime;
//Wait for the system to be fully started to start stabilization loop
systemWaitStart();
cpxInitRoute(CPX_T_STM32, CPX_T_GAP8, CPX_F_APP, &cpx_packet.route);
cpx_packet.dataLength = sizeof(StatePacket_t);
StatePacket_t* state_packet = (StatePacket_t*)&cpx_packet.data;
vTaskDelay(10000); // wait until WiFi is connected
lastWakeTime = xTaskGetTickCount();
while (1)
{
vTaskDelayUntil(&lastWakeTime, F2T(TASK_FREQ));
// Updating state data
// ...
cpxSendPacket(&cpx_packet, /*timeout*/ 10 /* ms */);
}
}