Best posts made by dracen

Hi! I 'm Akinori.
I'm embedded software engineer in Japan.

In my college days, I was part of robot contest team. My duty was to develope electric circuit and robot programming.

After graduated colledge, I have developed car electrical parts and air conditioners 5 years.

At this time, we use codrone pro for freshman's embedded system development education.

codrone is very nice selection for education. If I can get more information about codrone's specification (ex. how to get sensor data, and how to use those sensor data effectevly), codrone will be used more widely.

Thank you to develope exciting products!

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.

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.

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
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23701 ms> SEND : A 55 11 2 90 32 89 D
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23801 ms> SEND : A 55 11 2 90 32 89 D
23850 ms> SEND : A 55 11 2 90 32 89 D
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23951 ms> SEND : A 55 11 2 90 32 89 D
24000 ms> SEND : A 55 11 2 90 32 89 D
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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
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27102 ms> SEND : A 55 11 2 90 32 89 D
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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
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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
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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
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28688 ms> SEND : A 55 11 2 90 32 89 D
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30300 ms> SEND : A 55 11 2 90 32 89 D
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30800 ms> SEND : A 55 11 2 90 32 89 D
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31701 ms> SEND : A 55 11 2 90 32 89 D
31750 ms> SEND : A 55 11 2 90 32 89 D
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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
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32250 ms> SEND : A 55 11 2 90 32 89 D
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32351 ms> SEND : A 55 11 2 90 32 89 D
32400 ms> SEND : A 55 11 2 90 32 89 D
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32500 ms> SEND : A 55 11 2 90 32 89 D
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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
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35051 ms> SEND : A 55 11 2 90 32 89 D
35100 ms> SEND : A 55 11 2 90 32 89 D
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35250 ms> SEND : A 55 11 2 90 32 89 D
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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
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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
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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
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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
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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
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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
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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