# Pymavlink communication delays - BlueOS v.1.1.1

**URL:** https://discuss.bluerobotics.com/t/pymavlink-communication-delays-blueos-v-1-1-1/15178
**Category:** General Discussion
**Tags:** pymavlink, blueos
**Created:** [October 3, 2023, 12:42pm UTC](https://discuss.bluerobotics.com/t/pymavlink-communication-delays-blueos-v-1-1-1/15178 "2023-10-03T12:42:28Z")
**Posts on this page:** 1
**Page:** 1

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### Author: ![benth](https://avatars.discourse-cdn.com/v4/letter/b/cab0a1/32.png) [@benth](https://discuss.bluerobotics.com/u/benth)
#### Post date: [October 3, 2023, 12:42pm UTC](https://discuss.bluerobotics.com/t/pymavlink-communication-delays-blueos-v-1-1-1/15178/1 "2023-10-03T12:42:28Z")

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Hi!

I recently upgraded to the [latest and stable release of BlueOS v.1.1.1](https://github.com/bluerobotics/blueos/releases/tag/1.1.1), as I would like to enjoy the new changes in the latest release, but I’m experiencing around 1 second delay for various commands when communicating through Pymavlink, and more than 1 second delay on the data from the sensor readings (tested with listening to the “ATTITUDE” topic). The results from a network test shows

- Upload: 80 Mbps
- Download: 80 Mbps
- Latency: 4 us

The commands I’m sending are mainly `mavutil.mavlink.MAV_CMD_DO_SET_SERVO` through `master.mav.command_long_send()`. I’m using the commands to control two servo motors and lumen lights. I use the same code for BlueOS v.1.0.2, but here I’m experiencing the typical delays of around 0.2 seconds one should expect when sending with mavutil.mavlink.MAV\_CMD\_DO\_SET\_SERVO. I have set up two endpoints for both versions that I tested, which were set up as UDP Clients with Host: 192.168.2.1 and Ports: 14770 and 14771 (one for sensor readings, one for sending servo commands).

I would also like to mention that I’m unable to control the camera tilt angle using Pymavlink, but this might be a setting issue. Moreover, after flashing the SD card, the only thing I have done is to establish the endpoints, and I have not gone through the setup wizard or adjusted any other parameter. This goes for both BlueOS versions I have tried.

This makes me wonder what is different when it comes to communication through Pymavlink for these two versions, and whether there is a setting that must be tweaked or if there is something wrong causing delays. Out of curiosity, I tested BlueOS v.1.1.0, and received the same delays as for v.1.1.1.

Does anyone else have any experience with this issue? And does anyone know a solution? All help is appreciated!