fmu-v6x: Increase Mavlink UART buffers #21660
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Our serial_test showed only ~84kB/s with the default 256 RX buffer size with significant ~2.5ms periods of the flow control RTS pin being asserted. Increasing size to 600 (same as FMU-v5x) brings the throughput only to ~190kB/s, while a size of >1500 achieves ~350kB/s. Larger RX buffers do not increase throughput anymore, while the theoretical maximum is 375kB/s. Transmit buffer size is increased to 10kB same as on FMUv5x to prevent any future differences in queue behavior and throughput. serial_test showed ~350kB/s throughput at 3kB TX buffer size, so this is just a precaution.
bkueng
approved these changes
Jun 1, 2023
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Solved Problem
Our serial_test showed only ~85kB/s with the default 256 RX buffer size with significant ~2.5ms periods of the flow control RTS pin being asserted. Increasing size to 600 (same as FMU-v5x) brings the throughput only to ~190kB/s, while a size of >1500 achieves ~350kB/s. Larger RX buffers do not increase throughput anymore, while the theoretical maximum is 375kB/s.
Before: ~85kB/s RX throughput
After: ~350kB/s RX throughput
Transmit buffer size is increased to 10kB same as on FMUv5x to prevent any future differences in queue behavior and throughput. serial_test showed ~350kB/s throughput at 3kB TX buffer size, so this is just a precaution.
Changelog Entry
For release notes:
Test coverage
Verified by logic analyzer and
serial_test.