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)
|
|
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)
|
|
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

A picture is worth a thousand words. I think the histograms are very valuable.

Sanwa M12 results:
Servo update rate:384.165Hz
Avg latency: 4.1ms
Min:2.2ms
Max:6.5ms
Std deviation: 0.730ms

Very solid performance.

Wow! It's good to know that Sanwa did not BS all of its users.

Yes, but I mentioned in another thread that probably 90% of all sanwa users don't have the fastest radio in the world because the setting to activate the 384Hz servo update SSR or SHR instead of the normal mode does not activate on the sanwa radios unless you rebind the RX, and more than one try was necessary before we got it to work when I tested with the locical analyzer verifying every time we tried. Just changing it in the menu does not work.
I'm going to giggle a bit inside every time youtubers say they feel more connected with the sanwa compared to another radio when the difference is so small it is on the scale of unnoticeable and also that the radio comes default with the normal servo mode and it took us 5 rebinds of the RX for the setting to apply. So the statement "feel more connected" is a bit of a overstatement when it is a big chance they are less connected... But latency and update rate is not what makes a high end radio feel good, it is probably down to the spring strength and how it feels when driving that makes a more personal touch to it.

The Futabas I have tested also have the problem with a rebind to activate the setting on update rate. But the Futaba have the faster digital mode as default where as Sanwa have the slower mode as default.

If you could test a Spektrum DX6R surface radio to compare with the other (4PX, M12 etc..)just to see the difference.

This is awesome! I've been asking for this for years. I hope this continues and a lot more radios are able to be tested and put into this!

So the only way to verify the Sanwa is in the faster mode is with the analyzer? The settings in the menu may not be correct?

That is correct, some servo tester might be able to test this or you will need a oscilloscope or logic analyzer. We rebinded our M12 radio 5 times before it changed settings, the MT4S managed in 1 rebind but it was also set to the slower settings when we checked but the menu said it was in the fast mode if we did not rebind.

It's normal to have to re-bind after changing the speed setting. I just did know you had to do it 5x times in order for it to switch.


Pass you soon...

Did you cycle the transmitter power and still see fh4t and shr in the radio menu?

Any new info here? Such as if the newer Sanwa radios are also doing this, or if their claimed faster rates with the M12s and such are true? Same goes for the newer Futaba systems.

Note: I have a few different radios, and some interest in messing with an arduino, and a bit of an engineering background, but haven't actually done anything with arduino. If you provided more info on how to build and connect, I might find some time during the winter to give it a shot against a few additional radios and rx's.

I will see if i can make a small guide on how I setup the radios during the testing. But don't expect any soon, it is still summer and most of the spare time goes to driving and building RC cars

Sadly I have tested most of the radios in my small club already, only a few old stuff left.

I take it you have not tested the M12S or RS yet? These are suppose to be far faster than the M12! and please use a 472 rx.

I just got an M12s-rs today and the included receiver came set at the higher speed.