Benjamin Chung

> That needs some investigation, uxrce is limited to their own predefined set of topics so probably they can get away with using orb_advertise-non-multi . But with Zenoh all topics...

@PetervdPerk-NXP @farhangnaderi At least from my perspective there's no reason xrce-dds and zenoh can't run at the same time (modulo binary size, which a runtime flag wouldn't improve). I'm working...

[circle.webm](https://github.com/user-attachments/assets/0c9057cb-b7be-45c8-a4d9-62e89ba5c215) Flight tested this; it's running Julia in closed loop offboard mode on a Pi attached to our custom FC (STM32H745). This is running alongside uxrce which is being used...

> Now my problem: If I use the code above the volumes V and the levels L are set back to the initial each time the callback is called. I...

Yes, though it's probably going to be at least a couple of months, unfortunately. Ultimately, we need to generate custom InitializationSystems for each callback. Once we do this, it's easy...

I'm increasingly happy with this implementation; the main caveat to that statement is that the use of ComponentArrays for MutatingFunctionalAffects means that the values passed in and out are homogenously...

Yep, alas. I'll fix it with a force push

@ChrisRackauckas In terms of simplification, what'd be your thoughts on how to trim this down in that case?

This is the bug we talked about on Slack where we reinitialize the system after the affect fires using the initialization system for the initial condition, rather than the "running"...

Yeah. My feeling - for now - is that it's better to not run initialization (or error if there is an initialization) after an affect so that the user doesn't...