@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?

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?

Does anyone know it?

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
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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
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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
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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
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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
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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
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110200 ms> SEND : A 55 11 2 90 32 89 D
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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
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112064 ms> RECEIVE : A 55 E1 2 21 16 1E DB
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121651 ms> SEND : A 55 11 2 90 32 89 D
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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
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125202 ms> SEND : A 55 11 2 90 32 89 D

It is very exciting and wonderful to have technical exchange with other users on such a forum. I hope the library will be updated soon and development using drone will be more exciting.

Untill top of March, I have to program CoDrone using sensor data to do result presentation.
Even if without library, what can I do? If you release the Bluetooth communication protocol, data format and sensor specification, I can make library by myself.

I'll be very happy If you could cooperate with us.

Thank you to respond to me.

I figured out that the optical flow sensor and the IR height sensor are mounted to CoDrone.
I'll wait to be open the these sensor specification

To use these sensor data, I have to use snap application at current stage. But Unfortunately, development environment I can use is only Arduino and processing.

How does snap application get sensor data?

What command can I use to request these sensor data?

If you say that I have no choice but to wait library update, I'll do so.

Thank you!!

I did understand that library will be updated and most of sensor data is going to be available.
To tell the truth, at beginning of March, we will hold the result presentation of programming using CoDrone.

I wish I had made it in time.

Are there things what I can do to get sensor data?
I have no choice but wait library update?

Thank you for replying to me.
I did understand that library will be updated.

If Gyro sensor data are available by using the Snap application, that means I have method to get sensor data.

As soon as possible, I want to write code by myself to analyze Bluetooth communication to get gyro sensor data, .
Could you tell me Bluetooth communication data format to request gyro sensor data?

What command do I send to CoDrone?

Under the condition firmware Version48.18 is applied to CoDrone,
which sensor data are available?

Although I request sensor data using Library's API such as Request_ImuRawAndAngle(),
these sensor data are not send back from CoDrone to Controller.

-Temperature
-Pressure
-ImuRawAndAngl
-IrMessage
-TrimAll
-GyroBias

Only Attitude is available.
If request Attitude data, CoDrone send back it's actual Attitude data.

Based on CoDrone-LINK_05_28-1.pdf document,
could you teach us available sensors?

I've confused to debug software with reading CoDrone-LINK_05_28-1.pdf document.

As soon as I can, I want to know above information due to our education schedule.

Thank you in advance to cooperate with us.