Flydra is capable of outputing a low latency stream of state estimate from the Kalman filter.
The data are originally encoded into a “data packet” by flydra.kalman.flydra_tracker.Tracker.encode_data_packet().
Then, they are transferred to a separate thread in the flydra.MainBrain.CoordinateSender class. There, multiple packets are combined into a “super packet” with flydra.kalman.data_packets.encode_super_packet(). By combining into a single buffer to send over the network, fewer system calls are made, resulting in better performance and reducing overall latency.