[JesseK]

On the field in 2013 I witnessed the FMS peak at ~2Mb/s by itself for some reason, even though the FMS whitepaper calls out ~1Mb/s. This is included in the 7Mb/s allocation. That meant we basically had 5Mb/s for everything else and even approaching 3Mb/s for our own data would cause latency issues for all robots on the field.

We only focused on FMS bandwidth last year because we really wanted 640x480@10Hz/30% and wanted a baseline bandwidth to figure out the boundary conditions. I was trying to stitch telemetry data with image data. Wasn't worth it, to be honest - we wound up having to go down to 6Hz before the FTA's stopped complaining about latency. This year we're going to try 320x240@20Hz with 30% compression. Hopefully our whiz kid network programming student is making the net code efficient enough for the telemetry data to keep up.