message: Begin separatings state from time
diff: @@ -19,8 +19,8 @@ class Multicopter(object):
  socket calls.
  '''
  - # Time, followed by 12-dimensional state vector (Bouabdallah 2004)
  - STATE_SIZE = 13
  + # 12-dimensional state vector (Bouabdallah 2004)
  + STATE_SIZE = 12
  def __init__(self, host='127.0.0.1', motorPort=5000, telemetryPort=5001,
  motorCount=4, timeout=.1):
  @@ -51,8 +51,11 @@ class Multicopter(object):
  self.thread = Thread(target=self._run)
  self.thread.daemon = True
  + # time + state
  + self.telemSize = self.STATE_SIZE + 1
  +
  self.motorVals = np.zeros(motorCount)
  - self.state = np.zeros(self.STATE_SIZE)
  + self.state = np.zeros(self.telemSize)
  self.timeout = timeout
  self.ready = False
  @@ -96,7 +99,7 @@ class Multicopter(object):
  while True:
  try:
  - data, _ = self.telemSocket.recvfrom(8*self.STATE_SIZE)
  + data, _ = self.telemSocket.recvfrom(8*self.telemSize)
  except Exception:
  self.done = True
  break
  