Why is it necessary to not use the odometry thread when using vision?

[MarshallTappen]

I noticed that YAGSL-Example stops the odometry thread when using vision. Why is that necessary? There is a lock in the odometry thread. Couldn't the vision update code also use the same lock so that odometry is only updated from one source at a time?

[clrozeboom]

I've wondered about this myself. In fact the vision update functions do use the lock. In my own code I don't stop the thread and it seems to work fine.

[MarshallTappen]

Thanks, I didn't notice that the vision measurement functions did use the lock.

[thenetworkgrinch]

It should lessen the interrupts ideally, its not necessary but is an optimization