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1. The mutexes are straighforward mutexes which I would assume are there to prevent the cmd_vel object from being accessed when it is being updated in the callback. Normally there must be another thread which has access to cmd_vel probably for publishing to the drone.

2. cmd_vel seems to be a variable that is in scope for both the callback and the part of the program that sends commands to the ardrone. this usually means that it is a class variable or a global variable (poor practice) -- actually it is a global variable in the file linked.

3. Not sure on the parrot drone, but I'd expect it would be sending some type of serial message in the ardronedriver,checkout the ardrone_tool package (not in this repository)

4. I think this is for a companion computer to the ardrone

5. Have a look in the ardronedriver.cpp, it has a loop where information is recieved and published to the drone.

6. It appears the ardronedriver.cpp does this conversion. Though the actual comms is from a package called ardrone_tool that is not included in the repository. look at the ardrone_sdk.hpp's #include statements.

1. The mutexes are straighforward mutexes which I would assume are there to prevent the cmd_vel object from being accessed when it is being updated in the callback. Normally there must be another thread which has access to cmd_vel probably for publishing to the drone.

2. cmd_vel seems to be a variable that is in scope for both the callback and the part of the program that sends commands to the ardrone. this usually means that it is a class variable or a global variable (poor practice) -- actually it is a global variable in the file linked.

3. Not sure on the parrot drone, but I'd expect it would be sending some type of serial message in the ardronedriver,checkout the ardrone_tool package (not in this repository)

4. I think this is for a companion computer to the ardrone

5. Have a look in the ardronedriver.cpp, it has a loop where information is recieved and published to the drone.

8. It appears the ardronedriver.cpp does this conversion. Though the actual comms is from a package called ardrone_tool that is not included in the repository. look at the ardrone_sdk.hpp's #include statements.