CoDrone's communication response is too slow



  • I sent ImuRawAndAngle request to CoDrone via control board in a cycle of 50 ms.
    However, Codrone's response is too slow and response time is random.

    In addition, after send request, dtype 0xE1 data (LinkEvent) is often received.
    What mean LinkEvent?
    Why LinkEvent is received?

    Communication log is as follows.

    23051 ms> SEND : A 55 11 2 90 32 89 D
    23100 ms> SEND : A 55 11 2 90 32 89 D
    23152 ms> SEND : A 55 11 2 90 32 89 D
    23201 ms> SEND : A 55 11 2 90 32 89 D
    23250 ms> SEND : A 55 11 2 90 32 89 D
    23301 ms> SEND : A 55 11 2 90 32 89 D
    23350 ms> SEND : A 55 11 2 90 32 89 D
    23402 ms> SEND : A 55 11 2 90 32 89 D
    23451 ms> SEND : A 55 11 2 90 32 89 D
    23500 ms> SEND : A 55 11 2 90 32 89 D
    23551 ms> SEND : A 55 11 2 90 32 89 D
    23600 ms> SEND : A 55 11 2 90 32 89 D
    23652 ms> SEND : A 55 11 2 90 32 89 D
    23701 ms> SEND : A 55 11 2 90 32 89 D
    23750 ms> SEND : A 55 11 2 90 32 89 D
    23801 ms> SEND : A 55 11 2 90 32 89 D
    23850 ms> SEND : A 55 11 2 90 32 89 D
    23901 ms> SEND : A 55 11 2 90 32 89 D
    23951 ms> SEND : A 55 11 2 90 32 89 D
    24000 ms> SEND : A 55 11 2 90 32 89 D
    24051 ms> SEND : A 55 11 2 90 32 89 D
    24100 ms> SEND : A 55 11 2 90 32 89 D
    24151 ms> SEND : A 55 11 2 90 32 89 D
    24200 ms> SEND : A 55 11 2 90 32 89 D
    24247 ms> RECEIVE : A 55 E1 2 E9 A9 FF FF
    24301 ms> SEND : A 55 11 2 90 32 89 D
    24350 ms> SEND : A 55 11 2 90 32 89 D
    24399 ms> SEND : A 55 11 2 90 32 89 D
    24448 ms> SEND : A 55 11 2 90 32 89 D
    24497 ms> SEND : A 55 11 2 90 32 89 D
    24544 ms> SEND : A 55 11 2 90 32 89 D
    24593 ms> SEND : A 55 11 2 90 32 89 D
    24642 ms> SEND : A 55 11 2 90 32 89 D
    24691 ms> SEND : A 55 11 2 90 32 89 D
    24740 ms> SEND : A 55 11 2 90 32 89 D
    24787 ms> SEND : A 55 11 2 90 32 89 D
    24836 ms> SEND : A 55 11 2 90 32 89 D
    24885 ms> SEND : A 55 11 2 90 32 89 D
    24934 ms> SEND : A 55 11 2 90 32 89 D
    24983 ms> SEND : A 55 11 2 90 32 89 D
    25032 ms> SEND : A 55 11 2 90 32 89 D
    25079 ms> SEND : A 55 11 2 90 32 89 D
    25128 ms> SEND : A 55 11 2 90 32 89 D
    25177 ms> SEND : A 55 11 2 90 32 89 D
    25226 ms> SEND : A 55 11 2 90 32 89 D
    25275 ms> SEND : A 55 11 2 90 32 89 D
    25324 ms> SEND : A 55 11 2 90 32 89 D
    25371 ms> SEND : A 55 11 2 90 32 89 D
    25420 ms> SEND : A 55 11 2 90 32 89 D
    25469 ms> SEND : A 55 11 2 90 32 89 D
    25518 ms> SEND : A 55 11 2 90 32 89 D
    25567 ms> SEND : A 55 11 2 90 32 89 D
    25616 ms> SEND : A 55 11 2 90 32 89 D
    25663 ms> SEND : A 55 11 2 90 32 89 D
    25712 ms> SEND : A 55 11 2 90 32 89 D
    25761 ms> SEND : A 55 11 2 90 32 89 D
    25810 ms> SEND : A 55 11 2 90 32 89 D
    25859 ms> SEND : A 55 11 2 90 32 89 D
    25906 ms> SEND : A 55 11 2 90 32 89 D
    25955 ms> SEND : A 55 11 2 90 32 89 D
    26004 ms> SEND : A 55 11 2 90 32 89 D
    26053 ms> SEND : A 55 11 2 90 32 89 D
    26102 ms> SEND : A 55 11 2 90 32 89 D
    26151 ms> SEND : A 55 11 2 90 32 89 D
    26200 ms> SEND : A 55 11 2 90 32 89 D
    26251 ms> SEND : A 55 11 2 90 32 89 D
    26301 ms> SEND : A 55 11 2 90 32 89 D
    26350 ms> SEND : A 55 11 2 90 32 89 D
    26401 ms> SEND : A 55 11 2 90 32 89 D
    26450 ms> SEND : A 55 11 2 90 32 89 D
    26501 ms> SEND : A 55 11 2 90 32 89 D
    26550 ms> SEND : A 55 11 2 90 32 89 D
    26600 ms> SEND : A 55 11 2 90 32 89 D
    26651 ms> SEND : A 55 11 2 90 32 89 D
    26700 ms> SEND : A 55 11 2 90 32 89 D
    26751 ms> SEND : A 55 11 2 90 32 89 D
    26800 ms> SEND : A 55 11 2 90 32 89 D
    26852 ms> SEND : A 55 11 2 90 32 89 D
    26901 ms> SEND : A 55 11 2 90 32 89 D
    26950 ms> SEND : A 55 11 2 90 32 89 D
    27001 ms> SEND : A 55 11 2 90 32 89 D
    27050 ms> SEND : A 55 11 2 90 32 89 D
    27102 ms> SEND : A 55 11 2 90 32 89 D
    27151 ms> SEND : A 55 11 2 90 32 89 D
    27200 ms> SEND : A 55 11 2 90 32 89 D
    27251 ms> SEND : A 55 11 2 90 32 89 D
    27300 ms> SEND : A 55 11 2 90 32 89 D
    27352 ms> SEND : A 55 11 2 90 32 89 D
    27401 ms> SEND : A 55 11 2 90 32 89 D
    27450 ms> SEND : A 55 11 2 90 32 89 D
    27501 ms> SEND : A 55 11 2 90 32 89 D
    27550 ms> SEND : A 55 11 2 90 32 89 D
    27602 ms> SEND : A 55 11 2 90 32 89 D
    27651 ms> SEND : A 55 11 2 90 32 89 D
    27700 ms> SEND : A 55 11 2 90 32 89 D
    27751 ms> SEND : A 55 11 2 90 32 89 D
    27800 ms> SEND : A 55 11 2 90 32 89 D
    27852 ms> SEND : A 55 11 2 90 32 89 D
    27901 ms> SEND : A 55 11 2 90 32 89 D
    27950 ms> SEND : A 55 11 2 90 32 89 D
    28001 ms> SEND : A 55 11 2 90 32 89 D
    28050 ms> SEND : A 55 11 2 90 32 89 D
    28099 ms> RECEIVE : A 55 E1 2 FF FF FF 55
    28153 ms> SEND : A 55 11 2 90 32 89 D
    28202 ms> SEND : A 55 11 2 90 32 89 D
    28249 ms> SEND : A 55 11 2 90 32 89 D
    28298 ms> SEND : A 55 11 2 90 32 89 D
    28347 ms> SEND : A 55 11 2 90 32 89 D
    28396 ms> SEND : A 55 11 2 90 32 89 D
    28445 ms> SEND : A 55 11 2 90 32 89 D
    28494 ms> SEND : A 55 11 2 90 32 89 D
    28541 ms> SEND : A 55 11 2 90 32 89 D
    28590 ms> SEND : A 55 11 2 90 32 89 D
    28639 ms> SEND : A 55 11 2 90 32 89 D
    28688 ms> SEND : A 55 11 2 90 32 89 D
    28737 ms> SEND : A 55 11 2 90 32 89 D
    28784 ms> SEND : A 55 11 2 90 32 89 D
    28833 ms> SEND : A 55 11 2 90 32 89 D
    28882 ms> SEND : A 55 11 2 90 32 89 D
    28931 ms> SEND : A 55 11 2 90 32 89 D
    28980 ms> SEND : A 55 11 2 90 32 89 D
    29029 ms> SEND : A 55 11 2 90 32 89 D
    29078 ms> SEND : A 55 11 2 90 32 89 D
    29125 ms> SEND : A 55 11 2 90 32 89 D
    29174 ms> SEND : A 55 11 2 90 32 89 D
    29223 ms> SEND : A 55 11 2 90 32 89 D
    29272 ms> SEND : A 55 11 2 90 32 89 D
    29321 ms> SEND : A 55 11 2 90 32 89 D
    29370 ms> SEND : A 55 11 2 90 32 89 D
    29417 ms> SEND : A 55 11 2 90 32 89 D
    29466 ms> SEND : A 55 11 2 90 32 89 D
    29515 ms> SEND : A 55 11 2 90 32 89 D
    29564 ms> SEND : A 55 11 2 90 32 89 D
    29613 ms> SEND : A 55 11 2 90 32 89 D
    29660 ms> SEND : A 55 11 2 90 32 89 D
    29709 ms> SEND : A 55 11 2 90 32 89 D
    29758 ms> SEND : A 55 11 2 90 32 89 D
    29807 ms> SEND : A 55 11 2 90 32 89 D
    29856 ms> SEND : A 55 11 2 90 32 89 D
    29905 ms> SEND : A 55 11 2 90 32 89 D
    29952 ms> SEND : A 55 11 2 90 32 89 D
    30001 ms> SEND : A 55 11 2 90 32 89 D
    30050 ms> SEND : A 55 11 2 90 32 89 D
    30101 ms> SEND : A 55 11 2 90 32 89 D
    30150 ms> SEND : A 55 11 2 90 32 89 D
    30202 ms> SEND : A 55 11 2 90 32 89 D
    30251 ms> SEND : A 55 11 2 90 32 89 D
    30300 ms> SEND : A 55 11 2 90 32 89 D
    30351 ms> SEND : A 55 11 2 90 32 89 D
    30400 ms> SEND : A 55 11 2 90 32 89 D
    30452 ms> SEND : A 55 11 2 90 32 89 D
    30501 ms> SEND : A 55 11 2 90 32 89 D
    30550 ms> SEND : A 55 11 2 90 32 89 D
    30601 ms> SEND : A 55 11 2 90 32 89 D
    30650 ms> SEND : A 55 11 2 90 32 89 D
    30702 ms> SEND : A 55 11 2 90 32 89 D
    30751 ms> SEND : A 55 11 2 90 32 89 D
    30800 ms> SEND : A 55 11 2 90 32 89 D
    30851 ms> SEND : A 55 11 2 90 32 89 D
    30900 ms> SEND : A 55 11 2 90 32 89 D
    30952 ms> SEND : A 55 11 2 90 32 89 D
    31001 ms> SEND : A 55 11 2 90 32 89 D
    31050 ms> SEND : A 55 11 2 90 32 89 D
    31101 ms> SEND : A 55 11 2 90 32 89 D
    31150 ms> SEND : A 55 11 2 90 32 89 D
    31201 ms> SEND : A 55 11 2 90 32 89 D
    31251 ms> SEND : A 55 11 2 90 32 89 D
    31300 ms> SEND : A 55 11 2 90 32 89 D
    31351 ms> SEND : A 55 11 2 90 32 89 D
    31400 ms> SEND : A 55 11 2 90 32 89 D
    31451 ms> SEND : A 55 11 2 90 32 89 D
    31500 ms> SEND : A 55 11 2 90 32 89 D
    31550 ms> SEND : A 55 11 2 90 32 89 D
    31601 ms> SEND : A 55 11 2 90 32 89 D
    31650 ms> SEND : A 55 11 2 90 32 89 D
    31701 ms> SEND : A 55 11 2 90 32 89 D
    31750 ms> SEND : A 55 11 2 90 32 89 D
    31802 ms> SEND : A 55 11 2 90 32 89 D
    31851 ms> SEND : A 55 11 2 90 32 89 D
    31900 ms> SEND : A 55 11 2 90 32 89 D
    31951 ms> SEND : A 55 11 2 90 32 89 D
    32000 ms> SEND : A 55 11 2 90 32 89 D
    32052 ms> SEND : A 55 11 2 90 32 89 D
    32101 ms> SEND : A 55 11 2 90 32 89 D
    32150 ms> SEND : A 55 11 2 90 32 89 D
    32201 ms> SEND : A 55 11 2 90 32 89 D
    32250 ms> SEND : A 55 11 2 90 32 89 D
    32302 ms> SEND : A 55 11 2 90 32 89 D
    32351 ms> SEND : A 55 11 2 90 32 89 D
    32400 ms> SEND : A 55 11 2 90 32 89 D
    32451 ms> SEND : A 55 11 2 90 32 89 D
    32500 ms> SEND : A 55 11 2 90 32 89 D
    32552 ms> SEND : A 55 11 2 90 32 89 D
    32601 ms> SEND : A 55 11 2 90 32 89 D
    32650 ms> SEND : A 55 11 2 90 32 89 D
    32701 ms> SEND : A 55 11 2 90 32 89 D
    32750 ms> SEND : A 55 11 2 90 32 89 D
    32802 ms> SEND : A 55 11 2 90 32 89 D
    32851 ms> SEND : A 55 11 2 90 32 89 D
    32900 ms> SEND : A 55 11 2 90 32 89 D
    32951 ms> SEND : A 55 11 2 90 32 89 D
    33000 ms> SEND : A 55 11 2 90 32 89 D
    33052 ms> SEND : A 55 11 2 90 32 89 D
    33101 ms> SEND : A 55 11 2 90 32 89 D
    33150 ms> SEND : A 55 11 2 90 32 89 D
    33201 ms> SEND : A 55 11 2 90 32 89 D
    33250 ms> SEND : A 55 11 2 90 32 89 D
    33302 ms> SEND : A 55 11 2 90 32 89 D
    33351 ms> SEND : A 55 11 2 90 32 89 D
    33400 ms> SEND : A 55 11 2 90 32 89 D
    33451 ms> SEND : A 55 11 2 90 32 89 D
    33500 ms> SEND : A 55 11 2 90 32 89 D
    33551 ms> SEND : A 55 11 2 90 32 89 D
    33601 ms> SEND : A 55 11 2 90 32 89 D
    33650 ms> SEND : A 55 11 2 90 32 89 D
    33701 ms> SEND : A 55 11 2 90 32 89 D
    33750 ms> SEND : A 55 11 2 90 32 89 D
    33801 ms> SEND : A 55 11 2 90 32 89 D
    33850 ms> SEND : A 55 11 2 90 32 89 D
    33900 ms> SEND : A 55 11 2 90 32 89 D
    33951 ms> SEND : A 55 11 2 90 32 89 D
    34000 ms> SEND : A 55 11 2 90 32 89 D
    34051 ms> SEND : A 55 11 2 90 32 89 D
    34100 ms> SEND : A 55 11 2 90 32 89 D
    34152 ms> SEND : A 55 11 2 90 32 89 D
    34201 ms> SEND : A 55 11 2 90 32 89 D
    34250 ms> SEND : A 55 11 2 90 32 89 D
    34301 ms> SEND : A 55 11 2 90 32 89 D
    34350 ms> SEND : A 55 11 2 90 32 89 D
    34402 ms> SEND : A 55 11 2 90 32 89 D
    34451 ms> SEND : A 55 11 2 90 32 89 D
    34500 ms> SEND : A 55 11 2 90 32 89 D
    34551 ms> SEND : A 55 11 2 90 32 89 D
    34600 ms> SEND : A 55 11 2 90 32 89 D
    34652 ms> SEND : A 55 11 2 90 32 89 D
    34701 ms> SEND : A 55 11 2 90 32 89 D
    34750 ms> SEND : A 55 11 2 90 32 89 D
    34801 ms> SEND : A 55 11 2 90 32 89 D
    34850 ms> SEND : A 55 11 2 90 32 89 D
    34902 ms> SEND : A 55 11 2 90 32 89 D
    34951 ms> SEND : A 55 11 2 90 32 89 D
    35000 ms> SEND : A 55 11 2 90 32 89 D
    35051 ms> SEND : A 55 11 2 90 32 89 D
    35100 ms> SEND : A 55 11 2 90 32 89 D
    35152 ms> SEND : A 55 11 2 90 32 89 D
    35201 ms> SEND : A 55 11 2 90 32 89 D
    35250 ms> SEND : A 55 11 2 90 32 89 D
    35301 ms> SEND : A 55 11 2 90 32 89 D
    35350 ms> SEND : A 55 11 2 90 32 89 D
    35402 ms> SEND : A 55 11 2 90 32 89 D
    35451 ms> SEND : A 55 11 2 90 32 89 D
    35500 ms> SEND : A 55 11 2 90 32 89 D
    35551 ms> SEND : A 55 11 2 90 32 89 D
    36500 ms> SEND : A 55 11 2 90 32 89 D
    36551 ms> SEND : A 55 11 2 90 32 89 D
    36616 ms> RECEIVE : A 55 E1 2 1F 0 FF FF
    37401 ms> SEND : A 55 11 2 90 32 89 D
    37450 ms> SEND : A 55 11 2 90 32 89 D
    38252 ms> SEND : A 55 11 2 90 32 89 D
    38950 ms> SEND : A 55 11 2 90 32 89 D
    39001 ms> SEND : A 55 11 2 90 32 89 D
    39751 ms> SEND : A 55 11 2 90 32 89 D
    39800 ms> SEND : A 55 11 2 90 32 89 D
    39854 ms> RECEIVE : A 55 32 6 68 FF FF E1 2 21 A9 FF
    43251 ms> SEND : A 55 11 2 90 32 89 D
    43300 ms> SEND : A 55 11 2 90 32 89 D
    43351 ms> SEND : A 55 11 2 90 32 89 D
    43416 ms> RECEIVE : A 55 E1 2 1F 0 FF FF
    45101 ms> SEND : A 55 11 2 90 32 89 D
    45150 ms> SEND : A 55 11 2 90 32 89 D
    45951 ms> SEND : A 55 11 2 90 32 89 D
    46000 ms> SEND : A 55 11 2 90 32 89 D
    46850 ms> SEND : A 55 11 2 90 32 89 D
    47951 ms> SEND : A 55 11 2 90 32 89 D
    48000 ms> SEND : A 55 11 2 90 32 89 D
    48053 ms> RECEIVE : A 55 32 6 68 FF FF 55 E1 2 21 A9
    51550 ms> SEND : A 55 11 2 90 32 89 D
    51602 ms> SEND : A 55 11 2 90 32 89 D
    52200 ms> SEND : A 55 11 2 90 32 89 D
    52246 ms> RECEIVE : A 55 6E 26 FF FF E1 2 21 0 A9 FF FF 55 E1 2 1F 0 FF A 55 32 43 77 FF FF E1 2 21 0 A9 FF FF 73 8F FF 32 6 0 0 FB FF 26 FF
    53851 ms> SEND : A 55 11 2 90 32 89 D
    53900 ms> SEND : A 55 11 2 90 32 89 D
    54550 ms> SEND : A 55 11 2 90 32 89 D
    54601 ms> SEND : A 55 11 2 90 32 89 D
    54650 ms> SEND : A 55 11 2 90 32 89 D
    55150 ms> SEND : A 55 11 2 90 32 89 D
    55202 ms> SEND : A 55 11 2 90 32 89 D
    55251 ms> SEND : A 55 11 2 90 32 89 D
    55650 ms> SEND : A 55 11 2 90 32 89 D
    55701 ms> SEND : A 55 11 2 90 32 89 D
    55750 ms> SEND : A 55 11 2 90 32 89 D
    56150 ms> SEND : A 55 11 2 90 32 89 D
    56201 ms> SEND : A 55 11 2 90 32 89 D
    56601 ms> SEND : A 55 11 2 90 32 89 D
    56650 ms> SEND : A 55 11 2 90 32 89 D
    57052 ms> SEND : A 55 11 2 90 32 89 D
    57101 ms> SEND : A 55 11 2 90 32 89 D
    57451 ms> SEND : A 55 11 2 90 32 89 D
    57500 ms> SEND : A 55 11 2 90 32 89 D
    57605 ms> RECEIVE : A 55 32 6 0 0 0 0 0 0 5F 68
    60301 ms> SEND : A 55 11 2 90 32 89 D
    60350 ms> SEND : A 55 11 2 90 32 89 D
    60408 ms> RECEIVE : A 55 E1 2 A9 FF FF A
    61551 ms> SEND : A 55 11 2 90 32 89 D
    61604 ms> RECEIVE : A 55 32 6 0 0 EC FF FF 55 E1 2
    63651 ms> SEND : A 55 11 2 90 32 89 D
    63700 ms> SEND : A 55 11 2 90 32 89 D
    63770 ms> RECEIVE : A 55 E1 2 8F FF FF A
    65001 ms> SEND : A 55 11 2 90 32 89 D
    65050 ms> SEND : A 55 11 2 90 32 89 D
    66150 ms> SEND : A 55 11 2 90 32 89 D
    66202 ms> SEND : A 55 11 2 90 32 89 D
    66952 ms> SEND : A 55 11 2 90 32 89 D
    67400 ms> SEND : A 55 11 2 90 32 89 D
    67452 ms> SEND : A 55 11 2 90 32 89 D
    67531 ms> RECEIVE : A 55 32 6 68 FF FF A 55 E1 2 A9
    67900 ms> SEND : A 55 11 2 90 32 89 D
    67951 ms> SEND : A 55 11 2 90 32 89 D
    68000 ms> SEND : A 55 11 2 90 32 89 D
    68057 ms> RECEIVE : A 55 E1 2 A9 FF FF 73
    68552 ms> SEND : A 55 11 2 90 32 89 D
    68624 ms> RECEIVE : A 55 E1 2 1F 0 FF A
    69101 ms> SEND : A 55 11 2 90 32 89 D
    69150 ms> SEND : A 55 11 2 90 32 89 D
    69201 ms> SEND : A 55 11 2 90 32 89 D
    69701 ms> SEND : A 55 11 2 90 32 89 D
    69750 ms> SEND : A 55 11 2 90 32 89 D
    70600 ms> SEND : A 55 11 2 90 32 89 D
    70652 ms> SEND : A 55 11 2 90 32 89 D
    70701 ms> SEND : A 55 11 2 90 32 89 D
    71350 ms> SEND : A 55 11 2 90 32 89 D
    71402 ms> SEND : A 55 11 2 90 32 89 D
    71451 ms> SEND : A 55 11 2 90 32 89 D
    71507 ms> RECEIVE : A 55 E1 2 A9 FF FF A
    71593 ms> RECEIVE : A 55 E1 2 1F 0 FF FF
    74002 ms> SEND : A 55 11 2 90 32 89 D
    74051 ms> SEND : A 55 11 2 90 32 89 D
    74100 ms> SEND : A 55 11 2 90 32 89 D
    75001 ms> SEND : A 55 11 2 90 32 89 D
    75051 ms> SEND : A 55 11 2 90 32 89 D
    75100 ms> SEND : A 55 11 2 90 32 89 D
    75151 ms> SEND : A 55 11 2 90 32 89 D
    75200 ms> SEND : A 55 11 2 90 32 89 D
    75251 ms> SEND : A 55 11 2 90 32 89 D
    75300 ms> SEND : A 55 11 2 90 32 89 D
    75359 ms> RECEIVE : A 55 DA 50 FF FF A 55 E1 2 A9 FF FF A 55 E1 2 1F 0 73 8F FF FF A 55 32 6 0 0 0 0 0 0 5F 68 FF FF A 55 E1 2 A9 FF FF A 55 E1 73 8F FF FF A 0 2B 9A FF FF E1 2 21 0 A9 FF FF 73 8F FF 6 0 FF FF 55 E1 2 A9 FF FF 73 8F FF 6 0 0 FA FF 0
    75674 ms> RECEIVE : A 55 E1 2 A9 FF FF A
    75756 ms> RECEIVE : A 55 E1 2 A9 FF FF 0
    80802 ms> SEND : A 55 11 2 90 32 89 D
    80851 ms> SEND : A 55 11 2 90 32 89 D
    80900 ms> SEND : A 55 11 2 90 32 89 D
    80951 ms> SEND : A 55 11 2 90 32 89 D
    81000 ms> SEND : A 55 11 2 90 32 89 D
    81052 ms> SEND : A 55 11 2 90 32 89 D
    81101 ms> SEND : A 55 11 2 90 32 89 D
    81150 ms> SEND : A 55 11 2 90 32 89 D
    81201 ms> SEND : A 55 11 2 90 32 89 D
    81250 ms> SEND : A 55 11 2 90 32 89 D
    81302 ms> SEND : A 55 11 2 90 32 89 D
    81351 ms> SEND : A 55 11 2 90 32 89 D
    81400 ms> SEND : A 55 11 2 90 32 89 D
    81451 ms> SEND : A 55 11 2 90 32 89 D
    81500 ms> SEND : A 55 11 2 90 32 89 D
    81552 ms> SEND : A 55 11 2 90 32 89 D
    81601 ms> SEND : A 55 11 2 90 32 89 D
    81650 ms> SEND : A 55 11 2 90 32 89 D
    81701 ms> SEND : A 55 11 2 90 32 89 D
    81750 ms> SEND : A 55 11 2 90 32 89 D
    82301 ms> SEND : A 55 11 2 90 32 89 D
    82351 ms> SEND : A 55 11 2 90 32 89 D
    82400 ms> SEND : A 55 11 2 90 32 89 D
    82451 ms> SEND : A 55 11 2 90 32 89 D
    82500 ms> SEND : A 55 11 2 90 32 89 D
    82551 ms> SEND : A 55 11 2 90 32 89 D
    82600 ms> SEND : A 55 11 2 90 32 89 D
    82650 ms> SEND : A 55 11 2 90 32 89 D
    82701 ms> SEND : A 55 11 2 90 32 89 D
    82750 ms> SEND : A 55 11 2 90 32 89 D
    82801 ms> SEND : A 55 11 2 90 32 89 D
    82850 ms> SEND : A 55 11 2 90 32 89 D
    82902 ms> SEND : A 55 11 2 90 32 89 D
    82951 ms> SEND : A 55 11 2 90 32 89 D
    83000 ms> SEND : A 55 11 2 90 32 89 D
    83051 ms> SEND : A 55 11 2 90 32 89 D
    83100 ms> SEND : A 55 11 2 90 32 89 D
    83152 ms> SEND : A 55 11 2 90 32 89 D
    83201 ms> SEND : A 55 11 2 90 32 89 D
    83250 ms> SEND : A 55 11 2 90 32 89 D
    83301 ms> SEND : A 55 11 2 90 32 89 D
    83350 ms> SEND : A 55 11 2 90 32 89 D
    83402 ms> SEND : A 55 11 2 90 32 89 D
    83451 ms> SEND : A 55 11 2 90 32 89 D
    83500 ms> SEND : A 55 11 2 90 32 89 D
    83551 ms> SEND : A 55 11 2 90 32 89 D
    83600 ms> SEND : A 55 11 2 90 32 89 D
    83652 ms> SEND : A 55 11 2 90 32 89 D
    83701 ms> SEND : A 55 11 2 90 32 89 D
    83750 ms> SEND : A 55 11 2 90 32 89 D
    83801 ms> SEND : A 55 11 2 90 32 89 D
    83850 ms> SEND : A 55 11 2 90 32 89 D
    83902 ms> SEND : A 55 11 2 90 32 89 D
    83951 ms> SEND : A 55 11 2 90 32 89 D
    84000 ms> SEND : A 55 11 2 90 32 89 D
    86700 ms> SEND : A 55 11 2 90 32 89 D
    86752 ms> SEND : A 55 11 2 90 32 89 D
    86801 ms> SEND : A 55 11 2 90 32 89 D
    87450 ms> SEND : A 55 11 2 90 32 89 D
    87501 ms> SEND : A 55 11 2 90 32 89 D
    87550 ms> SEND : A 55 11 2 90 32 89 D
    87600 ms> SEND : A 55 11 2 90 32 89 D
    87651 ms> SEND : A 55 11 2 90 32 89 D
    87700 ms> SEND : A 55 11 2 90 32 89 D
    87751 ms> SEND : A 55 11 2 90 32 89 D
    87800 ms> SEND : A 55 11 2 90 32 89 D
    87852 ms> SEND : A 55 11 2 90 32 89 D
    87901 ms> SEND : A 55 11 2 90 32 89 D
    87950 ms> SEND : A 55 11 2 90 32 89 D
    88001 ms> SEND : A 55 11 2 90 32 89 D
    88050 ms> SEND : A 55 11 2 90 32 89 D
    88102 ms> SEND : A 55 11 2 90 32 89 D
    88151 ms> SEND : A 55 11 2 90 32 89 D
    88200 ms> SEND : A 55 11 2 90 32 89 D
    88251 ms> SEND : A 55 11 2 90 32 89 D
    88300 ms> SEND : A 55 11 2 90 32 89 D
    88352 ms> SEND : A 55 11 2 90 32 89 D
    88401 ms> SEND : A 55 11 2 90 32 89 D
    88450 ms> SEND : A 55 11 2 90 32 89 D
    88501 ms> SEND : A 55 11 2 90 32 89 D
    88550 ms> SEND : A 55 11 2 90 32 89 D
    88602 ms> SEND : A 55 11 2 90 32 89 D
    88651 ms> SEND : A 55 11 2 90 32 89 D
    88700 ms> SEND : A 55 11 2 90 32 89 D
    88751 ms> SEND : A 55 11 2 90 32 89 D
    88800 ms> SEND : A 55 11 2 90 32 89 D
    88852 ms> SEND : A 55 11 2 90 32 89 D
    88901 ms> SEND : A 55 11 2 90 32 89 D
    88950 ms> SEND : A 55 11 2 90 32 89 D
    89001 ms> SEND : A 55 11 2 90 32 89 D
    89050 ms> SEND : A 55 11 2 90 32 89 D
    89102 ms> SEND : A 55 11 2 90 32 89 D
    89151 ms> SEND : A 55 11 2 90 32 89 D
    89200 ms> SEND : A 55 11 2 90 32 89 D
    89251 ms> SEND : A 55 11 2 90 32 89 D
    89300 ms> SEND : A 55 11 2 90 32 89 D
    89352 ms> SEND : A 55 11 2 90 32 89 D
    89401 ms> SEND : A 55 11 2 90 32 89 D
    89450 ms> SEND : A 55 11 2 90 32 89 D
    89501 ms> SEND : A 55 11 2 90 32 89 D
    89550 ms> SEND : A 55 11 2 90 32 89 D
    89601 ms> SEND : A 55 11 2 90 32 89 D
    89651 ms> SEND : A 55 11 2 90 32 89 D
    89700 ms> SEND : A 55 11 2 90 32 89 D
    89751 ms> SEND : A 55 11 2 90 32 89 D
    95701 ms> SEND : A 55 11 2 90 32 89 D
    95750 ms> SEND : A 55 11 2 90 32 89 D
    95801 ms> SEND : A 55 11 2 90 32 89 D
    100102 ms> SEND : A 55 11 2 90 32 89 D
    100151 ms> SEND : A 55 11 2 90 32 89 D
    100200 ms> SEND : A 55 11 2 90 32 89 D
    102150 ms> SEND : A 55 11 2 90 32 89 D
    102200 ms> SEND : A 55 11 2 90 32 89 D
    102263 ms> RECEIVE : A 55 32 50 FF FF 55 E1 2 21 A9 FF FF A 55 E1 2 8F FF FF A 55 32 68 FF FF 2 21 0 E9 A9 FF FF 55 E1 2 1F 0 FF FF A 55 F7 1 FF FF E1 2 21 0 A9 FF FF A 55 E1 2 1F 0 73 8F FF FF A 55 32 6 0 0 FD FF 0 0 F7 1 FF FF 21 0 E9 A9 FF FF A 73 8F
    105000 ms> SEND : A 55 11 2 90 32 89 D
    105052 ms> SEND : A 55 11 2 90 32 89 D
    106951 ms> SEND : A 55 11 2 90 32 89 D
    107002 ms> SEND : A 55 11 2 90 32 89 D
    107701 ms> SEND : A 55 11 2 90 32 89 D
    108152 ms> SEND : A 55 11 2 90 32 89 D
    108500 ms> SEND : A 55 11 2 90 32 89 D
    108551 ms> SEND : A 55 11 2 90 32 89 D
    108951 ms> SEND : A 55 11 2 90 32 89 D
    109000 ms> SEND : A 55 11 2 90 32 89 D
    109401 ms> SEND : A 55 11 2 90 32 89 D
    109450 ms> SEND : A 55 11 2 90 32 89 D
    109801 ms> SEND : A 55 11 2 90 32 89 D
    109850 ms> SEND : A 55 11 2 90 32 89 D
    110200 ms> SEND : A 55 11 2 90 32 89 D
    110252 ms> SEND : A 55 11 2 90 32 89 D
    110502 ms> SEND : A 55 11 2 90 32 89 D
    110553 ms> SEND : A 55 11 2 90 32 89 D
    110602 ms> SEND : A 55 11 2 90 32 89 D
    110710 ms> RECEIVE : A 55 32 6 0 0 1 FF FF E1 2 21
    110773 ms> SEND : A 55 11 2 90 32 89 D
    110822 ms> SEND : A 55 11 2 90 32 89 D
    110873 ms> SEND : A 55 11 2 90 32 89 D
    111051 ms> SEND : A 55 11 2 90 32 89 D
    111100 ms> SEND : A 55 11 2 90 32 89 D
    111600 ms> SEND : A 55 11 2 90 32 89 D
    111651 ms> SEND : A 55 11 2 90 32 89 D
    111702 ms> SEND : A 55 11 2 90 32 89 D
    111784 ms> RECEIVE : A 55 32 6 50 FF FF 21 0 E9 A9 FF
    111950 ms> SEND : A 55 11 2 90 32 89 D
    112001 ms> SEND : A 55 11 2 90 32 89 D
    112064 ms> RECEIVE : A 55 E1 2 21 16 1E DB
    113901 ms> SEND : A 55 11 2 90 32 89 D
    113952 ms> SEND : A 55 11 2 90 32 89 D
    114851 ms> SEND : A 55 11 2 90 32 89 D
    114900 ms> SEND : A 55 11 2 90 32 89 D
    114952 ms> SEND : A 55 11 2 90 32 89 D
    115550 ms> SEND : A 55 11 2 90 32 89 D
    115601 ms> SEND : A 55 11 2 90 32 89 D
    115650 ms> SEND : A 55 11 2 90 32 89 D
    115762 ms> RECEIVE : A 55 32 6 0 50 FF FF E1 2 21 A9
    116400 ms> SEND : A 55 11 2 90 32 89 D
    116451 ms> SEND : A 55 11 2 90 32 89 D
    116503 ms> SEND : A 55 11 2 90 32 89 D
    117201 ms> SEND : A 55 11 2 90 32 89 D
    117253 ms> SEND : A 55 11 2 90 32 89 D
    117802 ms> SEND : A 55 11 2 90 32 89 D
    117851 ms> SEND : A 55 11 2 90 32 89 D
    117902 ms> SEND : A 55 11 2 90 32 89 D
    117982 ms> RECEIVE : A 55 F7 1 FF FF A
    121051 ms> SEND : A 55 11 2 90 32 89 D
    121102 ms> SEND : A 55 11 2 90 32 89 D
    121651 ms> SEND : A 55 11 2 90 32 89 D
    121700 ms> SEND : A 55 11 2 90 32 89 D
    122051 ms> SEND : A 55 11 2 90 32 89 D
    122100 ms> SEND : A 55 11 2 90 32 89 D
    122151 ms> SEND : A 55 11 2 90 32 89 D
    122247 ms> RECEIVE : A 55 E1 2 1F 0 FF A
    122700 ms> SEND : A 55 11 2 90 32 89 D
    122752 ms> SEND : A 55 11 2 90 32 89 D
    122803 ms> SEND : A 55 11 2 90 32 89 D
    123252 ms> SEND : A 55 11 2 90 32 89 D
    123303 ms> SEND : A 55 11 2 90 32 89 D
    123352 ms> SEND : A 55 11 2 90 32 89 D
    123751 ms> SEND : A 55 11 2 90 32 89 D
    123800 ms> SEND : A 55 11 2 90 32 89 D
    123850 ms> SEND : A 55 11 2 90 32 89 D
    123901 ms> SEND : A 55 11 2 90 32 89 D
    123983 ms> RECEIVE : A 55 32 6 68 FF FF 21 0 E9 A9 FF
    124300 ms> SEND : A 55 11 2 90 32 89 D
    124352 ms> SEND : A 55 11 2 90 32 89 D
    124700 ms> SEND : A 55 11 2 90 32 89 D
    124751 ms> SEND : A 55 11 2 90 32 89 D
    124800 ms> SEND : A 55 11 2 90 32 89 D
    125102 ms> SEND : A 55 11 2 90 32 89 D
    125151 ms> SEND : A 55 11 2 90 32 89 D
    125202 ms> SEND : A 55 11 2 90 32 89 D



  • Does anyone know it?


  • administrators

    @dracen
    Yes the delay between request and receives can be random and depends on the amount of dropped bluetooth messages. Also not all request take the same amount of time. This is because some data packets are bigger and require more than one message to be sent and received thereby the drop rate can be higher and result in a bigger delay. In my experience grabbing the raw Imu values is the slowest of all the request since it is the biggest message request. For the link event you may have set some of the parameters for CoDrone(True,True,True,True,True) they should be

    drone = CoDrone(True, False, False, False, False)
    

    Can you post the code you are using?



  • Like @robolink_arnold mentioned, 50 ms is actually the fastest the tech is able to handle, as far as we've been able to push it. For higher frequency, we would need to be upgrading the hardware. It's something we've definitely taken note of on our future roadmap.



  • source code is here.
    https://github.com/A-Hayashi/Codrone/blob/test/Controller_Flight_3/Controller_Flight_3.ino

    What does mean this?
    "For the link event you may have set some of the parameters for CoDrone(True,True,True,True,True) "
    I can't find method named Codrone. In addition, CoDroneClass's constructor don't have any argument.

    How can I reduce transmission delay?
    If interval of request raw Imu values is more than 50ms, delay will be minimize?
    When I receive LinkEvent, are there something to do?
    Can I ignore LinkEvent, and continue to request raw Imu values until I receive Imu data?


  • administrators

    @dracen Sorry my bad I thought you were using python. For the Arduino communication for request and receive, the IMU raw values are still the slowest of all the request, you can not reduce the transmission delay the 50ms request intervals are set by the BLE communication protocol. Let me review and test your code and I will get back to you.



  • @robolink_arnold Thank you. I wonder that there are some limitations of send request timing which must be considered. ex. frequent send request is not good. Or two send request interval time must be less than 100ms, and so on.

    If my source code contain bad part, could you show me where there are?


  • administrators

    @dracen As of right now there isn't a way to disable the link event state it is done by default. Nothing is wrong with your CoDrone code, however once the new update is published along with the tutorials, accessing the data will be easier in Arduino.


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