normanadvanced/OpenCode — pull request #1 by Clemensius (2014-07-02 20:39:34+00:00)
Title: make driving more accurate

In libkovan every functions sends everything immediately to the KMOD, for example a MAV-Command sends 3 separate packages to KMOD.
KMOD process the whole queue every 40 ms. This Leads to some strange bugs while driving if one of the 3 packages from MAV is not processed in the same round as the others.
Sending everything immediately without queueing some commands (for example in MAV) is the default behaviour.
With "set_auto_publish" it's possible to change this behaviour.
With that you can enqueue all 6 packages from the MAV's from both motors and send them to KMOD at once - this ensures that both weels are controlled at the same time, without having bugs.

Greetings from Austria
Clemens from Team AMAZeING