Multiple connection to Bebop2 (S.L.A.M.dunk and app/PC)


I bought a S.L.A.M.dunk, a bebop2 and got the app downloaded on my smartphone.
I’m trying to control bebop2 both using S.L.A.M.dunk (using usb connection) and the app (or using another PC) during the same session, but I can’t do that.
When I connect the S.L.A.M.dunk to bebop2 (controlling it with bebop autonomy), after connecting my smartphone to bebop2 (Through the app), I see on terminal “Connection refused”. The same problem occurs when I do the same process switching the connection order.
Is there a way to achieve this simultaneous connection?




I’m interested in this topic, too.
I am considering to buy a S.L.A.M. dunk kit because I would like to be able to switch between autonomous localization/mapping and manual flight.
In order to decide whether to buy the kit, it is really important to me to understand if “control” can be passed back and forth at run-time between the Slam Dunk ROS node and my PC application and how I can do that.