I am trying to port arducopter to parrot mambo. The toolchain I used is downloaded from here. I modify parrot bebop code for mambo. My branch is here. The way to build and run is just like bebop. For bluetooth PAN connection, I use education firmware from parrot-developers.
Currently, I can build and run arducopter on mambo. I can arm throttle from usb serial using mavproxy. The motors will spin. I can telnet to mambo through bluetooth PAN. But after I start arducopter (from usb serial) , bluetooth connection is hang. If I abort arducopter, bluetooth is back. It seems like arducopter use too much CPU resources and linux can not spare time for bluetooth service. I have disable most features but still not working. Is there anything I can do to reduce CPU usage? Or there is something I miss?
Thank you very much