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ardrone_autonomy, periodically reduced sampling frequency

Hi, I'm using ardrone_autonomy to read data from the Parrot AR Drone 2.0, with ROS on an Ubuntu system. Most of the time it works fine, with ROS receiving data at the ideal rate of around 180-200 Hz. However, once every 1-2 minutes, the sampling rate is reduced to around 8-20 Hz, which messes up for the closed loop control system I'm designing. This condition lasts for about 6 seconds at every occurrence. Does anyone have any idea what this might be because? I have tried two drones, both with the same error, so it's probably not due to the drone.

Thanks in advance!

ardrone_autonomy, periodically reduced sampling frequency

Hi, I'm using ardrone_autonomy to read data from the Parrot AR Drone 2.0, with ROS on an Ubuntu system. Most of the time it works fine, with ROS receiving data at the ideal rate of around 180-200 Hz. However, once every 1-2 minutes, the sampling rate is reduced to around 8-20 Hz, which messes up for the closed loop control system I'm designing. This condition lasts for about 6 seconds at every occurrence. Does anyone have any idea what this might be because? I have tried two drones, both with the same error, so it's probably not due to the drone.

EDIT: Added the link below to the picture of a recorded .bag file visualized in rqt. Each blue line represents a received sample, while white spaces mean "no sample". A recording of the "ardrone/navdata" topic shows the same.

http://cubeupload.com/im/hS59vZ.jpg

(ALT) http://i.cubeupload.com/hS59vZ.jpg

Thanks in advance!