TX/RX Latency Test Results
04-16-2005 10:26 AM 12 years ago Post 1

JKos
rrProfessor - Redondo Beach, CA - My Posts: All Forum Topic

Graphs and table updated 5 Nov 2013 with Futaba 14SG results.
Graphs and table updated 13 Nov 2013 with Spektrum DX18 results.
Table updated 27 Jan 2015 with Jeti DS16 results.
Hello,
I have been measuring the latency of various transmitter/receiver pairs. This test is designed to measure how long it takes from the time a stick is moved until the corresponding change is seen at the receiver's output. For this test, I will be using a collective/throttle stick input and monitor the output of all three swash servo channels in 120 deg eCCPM mode.
For a quick look, here are graphs of the 2.4 GHz radio systems I have tested in eCCPM mode.
Sorted by minimum latency, average latency, and range (maximum minus minimum)

Here are graphs of PCM and 2.4 GHz radio systems I have tested in eCCPM mode.
Sorted by minimum latency, average, and range (max minus min)

Graph showing the distribution of the latency samples collected during testing. This shows even more detail of the latency characteristics of a system than the numbers below.

I will add each result to following table as I get them.
Fastest 2.4 GHz Radio from Each Brand (Based on Minimum Latency)
Transmitter |Receiver|Minimum|Maximum|Average
---------------+--------+-------+-------+-------
ATX SD-10G |92104 | 4 | 16.3 | 10.3
Futaba 14SG |R7008SB | 4 | 11.4 | 7.9 12 Ch/telem off
Spektrum DX18 |AR9020 | 12 | 23 | 17.5 11 ms frame
Jeti DS16 | | 13 | 37.3 | 25.2 (15)
JR 12X |R1221 | 20 | 45.5 | 32.5
WFLY WFT09S |V8FR-II | 30 | 79.4 | 53.4 (14)
Hitec Aurora 9 |Optima 7| 41 | 66.6 | 53.5 (12)
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|
2.4 GHz Radios in eCCPM Mode
|
Transmitter |Receiver|MLF|MLL|MaxLF|MaxLL|Avg
---------------+--------+---+---+-----+-----+-----
ATX RD8000 |92824 |14 | 19| 34.3| 39.3| 26.8
ATX SD-10G |92104 | 4 | 10| 10.3| 16.3| 10.3
ATX SD-10G |92104 | 4 | 4| 16.3| 16.3| 10.3 (10)
Futaba 8FG |R6008HS |11 | 11| 17.7| 17.7| 14.1 (9)
Futaba 8FG |R6008HS |11 | 11| 24.8| 24.8| 17.6
Futaba 10C/TM10|R6008HS | 8 | 9| 15.2| 15.2| 11.7 (9)
Futaba 10C/TM10|R6014FS | 7 | 7| 28 | 28 | 18
Futaba 12Z/TM14|R6014FS |19 | 19| 57.8| 57.8| 38.4
Futaba 14MZ/DM8|AR9000 |20 | 23| 74 | 76 | 47 (4)
Futaba 14SG |R7008SB | 4 | 4| 11.4| 11.4| 7.9 12 Ch/telem off
Futaba 14SG |R7008SB | 4 | 4| 11.4| 11.4| 7.9 12 Ch/telem 1 s
Futaba 14SG |R7008SB | 4 | 4| 16.9| 16.9| 12.5 12 Ch/telem 0.1 s
Futaba 14SG |R7008SB | 6 | 6| 22.5| 22.5| 16.4 14 Ch/telem off
Futaba 14SG |R7008SB | 6 | 6| 22.5| 22.5| 16.4 14 Ch/telem 1 s
Futaba 14SG |R608FS | 7 | 7| 28.5| 28.5| 16.9
Futaba 14SG |R617FS | 8 | 8| 31.6| 31.6| 19.6
Futaba T6EX |R606FS | 8 | 15| 54 | 60 | 34.25 (5)
Futaba T7C 2.4 |R617FS |11 | 13| 39 | 41 | 26.4
Hitec Aurora 9 |Optima 7|41 | 46| 62.6| 72.6| 55 (11)
Hitec Aurora 9 |Optima 7|41 | 43| 62.6| 66.6| 53.5 (12)
Jeti DS16 | |13 | 13| 37.3| 37.3| 25.2 (15)
JR 12X |R1221 |20 | 21| 43.5| 45.5| 32.5
JR 9303/Spektru|AR9000 |40 | 45| 63.8| 68.3| 54.4
JR 9303/XPS Tol|XPS 8-ch|34 | 52| 74 | 81 | 60 (7)
JR 9303/XPS Now|XPS 8-ch|33 | 33| 61.7| 61.7| 46.9 (8)
JR X9303 |AR7000 |24 | 26| 45.5| 49.5| 36.2
JR X9303 |R921 |24 | 26| 45.5| 49.5| 36.7
Spektrum DX6 |AR6000 |59 | 63| 80.6| 88.6| 72.8
Spektrum DX6i |AR7000 |23 | 25| 47.6| 49.6| 35.74
Spektrum DX7 |AR7000 |14 | 16| 36 | 40 | 27.5
Spektrum DX7 |AR6100 |14 | 16| 36 | 40 | 27.5
Spektrum DX7 |AR6000 |31 | 35| 53 | 61 | 45
Spektrum DX7SE | |12 | 13| 20 | 22 | 17
Spektrum DX8 |AR7000 |11 | | | 37 | 24
Spektrum DX8 |AR8000 |12 | | | 26.7| 19.2 (11 ms frame)
Spektrum DX8 |AR8000 |12 | | | 37.2| 25.0 (22 ms frame)
Spektrum DX18 |AR7200BX|12 | | 24 | | 18.3 (11 ms, 200 Hz)
Spektrum DX18 |AR9020 |12 | | 23 | | 17.5 (11 ms frame)
WFLY WFT09S |WFT09S |30 | | |105.2| 70.2 (13)
WFLY WFT09S |V8FR-II |30 | | | 79.4| 53.4 (14)
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|
PCM in eCCPM Mode
|
Transmitter |Receiver|MLF|MLL|MaxLF|MaxLL|Avg
---------------+--------+---+---+-----+-----+-----
ATX Stylus |92186Z |13 | 16| 27 | 30 | 21.5
Futaba 10C |R319DPS |13 | | | 43 | 28
Futaba 12Z |R5014DPS|14 | 14| 31.5| 31.5| 22.75 (1)
Futaba 12Z Md A|R5114DPS|11 | 11| 29.5| 29.5| 20.3 (1)
Futaba 12Z Md B|R5114DPS|15 | 15| 37.6| 37.6| 26.1 (1)
Futaba 14MZ |R5014DPS|14 | 14| 31.5| 31.5| 22.75 (1)
Futaba 14MZ |R5014DPS|14 | 24| 31.5| 41.5| 27.75 (2)
Futaba 14MZ |PCM1024 |29 | 93| 42 |106 | 67.5 (3)
Futaba 9C |R149DP |44 |110| 57 |123 | 83.5
Futaba 9ZWC2 |R149DP |29 | 93| 41.9|105.9| 67.5
Hitec Eclipse7 |QPCM |41 | 43| 62 | 64 | 52.5
JR 8103 |649S |27 | 59| 47 | 59 | 48
JR 9303 |649S |15 | 47| 36 | 47 | 36.3
JR 9303 |770S |15 | 47| 36 | 47 | 36.3
JR 10X |649S |34 | 66| 54 | 66 | 55
|
|
PPM and eCCPM
|
Transmitter |Receiver|MLF|MLL|MaxLF|MaxLL|Avg
--------------+--------+---+---+-----+-----+-----
ATX Stylus |FM |13 | 17| 37 | 45 | 28
Futaba 10C |FM | 2.5| | | 24.9| 13.9
Futaba 14MZ |PPM8 | 4 | 6| 39 | 41 | 22.5 (1)
Futaba 9C |FM |50 | 55| 72.3| 82.3| 64.9
Hitec Eclipse7|FM |22 | 28| 42.6| 50.5| 35.8
JR 8103 |FM |10 | 14| 32 | 40 | 24
JR 9303 |FM |10 | 14| 32 | 40 | 24
JR 10X |FM |10 | 14| 32 | 40 | 24
Multiplex Evo9|FM |10 | 14| 32 | 40 | 24 (6)
|
|
PCM, DSM2, and FASST in Normal mode (Channel 6)
|
Transmitter |Receiver|MLF|MLL|MaxLF|MaxLL|Avg
--------------+--------+---+---+-----+-----+-----
ATX Stylus |92186Z |13 | 13| 27 | 27 | 20
Futaba T6EX |R606FS |17 | 17| 61 | 61 | 39
JR 8103 |649S |38 | 38| 58 | 58 | 53
JR 10X |649S |35 | 35| 55 | 55 | 50
JR X9303 |R921 |25 | 25| 47 | 47 | 36
|
|
PPM and Normal (Channel 6)
|
Transmitter |Receiver|MLF|MLL|MaxLF|MaxLL|Avg
--------------+--------+---+---+-----+-----+-----
Futaba 9C |PPM |32 | 32| 59.3| 59.3| 45.65
Futaba 14MZ |PPM8 | 3 | 3| 40 | 40 | 21.3
JR 8103 |PPM |16 | 16| 38 | 38 | 27
JR 10X |PPM | 8 | 8| 30 | 30 | 19
|
All times are in milliseconds.
MLF - Minimum latency to first change at receivers output
MLL - Minimum latency to last change at receivers output
MaxLF - Maximum latency to first change at receivers output
MaxLL - Maximum latency to last change at receivers output
Avg - Average of MLF, MLL, MaxLF, and MaxLL
|
(1) Using channels 4, 5, and 6
(2) Using channels 1, 2, and 6
(3) Deduced numbers from observed behavior
(4) Channels 4, 5, and 6 on 14MZ and channels 2, 5, and 6 on AR9000
(5) Subject to collective input slew rate limiting
(6) In PPM 8, JR channel assignments, HELIccpm model and NOT an IPD receiver
(7) Units sold in Toledo
(8) Current tx module firmware v2.3 and rx firmware v2.4
(9) High speed mode
(10) Using channels 1, 4, and 7
(11) Using channels 1, 2, and 6
(12) Using channels 1, 2, and 3
(13) WFLY WFTRFS module with WFLY WFR09S receiver
(14) FrSKY DFT module with FrSKY V8FR-II receiver
(15) Tx 100Hz, Rx auto, servos grouped
- John