Sometimes autonomous cycles at half rate (19 Hz instead of 38 Hz)

[Jay Lundy]

Try printing out the packet number after every Getdata. It's rxdata.packet_num or rxdata.packetnum or something like that (you want the packet number in rxdata, not txdata). If your packet number keep incrementing by 2, you're missing packets.

If you are missing packets, I don't know what to say other than I wish IFI would reveal more about their communication structure rather than packing everything useful into a library. We've run into several strange errors where more knowledge about the whole setup would have greatly speed up the debug process.

If you are catching every packet and it's still running at 1/2 speed, then I'd definately say it's an issue with how the master processor handles communication over the tether. The rxdata packet number is controlled by the master. Once again, it's hard to investigate these problems without the master code...

Though I would suggest you try to run everything off of timers rather than program counts. It's more accurate and more reliable that way.