From 80487a202f0202fb77dc45bdfd8908515457f73c Mon Sep 17 00:00:00 2001 From: Niklas Hauser Date: Wed, 31 May 2023 10:36:07 +0200 Subject: [PATCH] fmu-v6x: Increase Mavlink UART buffers 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. --- boards/px4/fmu-v6x/nuttx-config/nsh/defconfig | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig index edb5e8a0d885..a38915d99f00 100644 --- a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig @@ -291,8 +291,9 @@ CONFIG_UART4_RXBUFSIZE=600 CONFIG_UART4_TXBUFSIZE=1500 CONFIG_UART5_IFLOWCONTROL=y CONFIG_UART5_OFLOWCONTROL=y +CONFIG_UART7_RXBUFSIZE=1500 CONFIG_UART5_RXDMA=y -CONFIG_UART5_TXBUFSIZE=3000 +CONFIG_UART5_TXBUFSIZE=10000 CONFIG_UART5_TXDMA=y CONFIG_UART7_BAUD=57600 CONFIG_UART7_IFLOWCONTROL=y