@Alex-Kushleyev

Thank you for the advice. I did this a couple times, and the results are interesting to say the least.

If the testfile does not already exist, I get 1.4 gb/s.

If it does exist, I get 20mb/s with 10 blocks of 50M.

voxl2:/$ sync && time ./sd_test.sh
10+0 records in
10+0 records out
524288000 bytes (524 MB, 500 MiB) copied, 0.368724 s, 1.4 GB/s

real	0m7.950s
user	0m0.017s
sys	0m0.385s
voxl2:/$ rm /media/gfr/testfile 
voxl2:/$ 
voxl2:/$ sync && time ./sd_test.sh
10+0 records in
10+0 records out
524288000 bytes (524 MB, 500 MiB) copied, 0.365262 s, 1.4 GB/s
    
real	0m7.911s
user	0m0.015s
sys	0m0.383s
voxl2:/$ sync && time ./sd_test.sh
10+0 records in
10+0 records out
524288000 bytes (524 MB, 500 MiB) copied, 22.8395 s, 23.0 MB/s

real	0m24.506s
user	0m0.010s
sys	0m0.880s
voxl2:/$ sync && time ./sd_test.sh
10+0 records in
10+0 records out
524288000 bytes (524 MB, 500 MiB) copied, 22.8774 s, 22.9 MB/s

real	0m24.502s
user	0m0.003s
sys	0m0.870s
voxl2:/$ rm /media/gfr/testfile 
voxl2:/$ 
voxl2:/$ sync && time ./sd_test.sh
10+0 records in
10+0 records out
524288000 bytes (524 MB, 500 MiB) copied, 0.364634 s, 1.4 GB/s

real	0m7.992s
user	0m0.004s
sys	0m0.393s

When changing the block size to 5mb rather than 50, I saw faster speeds, even when writing to existing file.

voxl2:/$ rm -rf /media/gfr/testfile 
voxl2:/$ ./sd_test1.sh 
10+0 records in
10+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.0784419 s, 668 MB/s
voxl2:/$ 
voxl2:/$ ./sd_test1.sh 
10+0 records in
10+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.412609 s, 127 MB/s
voxl2:/$ ./sd_test1.sh 
10+0 records in
10+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.407672 s, 129 MB/s
voxl2:/$ 
voxl2:/$ ./sd_test1.sh 
10+0 records in
10+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.395725 s, 132 MB/s
voxl2:/$ ./sd_test1.sh 
10+0 records in
10+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.341873 s, 153 MB/s
voxl2:/$ ./sd_test1.sh 
10+0 records in
10+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.42811 s, 122 MB/s

Based on these results, I assume that optimizations are done when writing a new file to the SD card, because I thought the theoretical maximum for writing to an SD card via SDR104 was 104 MB/s. Either that, or the test is flawed if the file does not already exist.I know that there's likely more overhead when writing to an existing file.

Also I see that less block size is giving higher speed, so I am assuming that the slower speeds I am seeing is due to the overhead of writing very large blocks of data.

Appreciate the help

Good afternoon,

I was wondering if there is anything I can do to increase the speed of the SD card slot on the Ethernet and USB Hub Add-On board.

When an SD card is connected to it, the dmesg output shows that it is in SDR104 mode, and yet it only gives about 52 MB/S upload speed on average. However, the same SD card connected to an external SD card reader over USB 3.0 JST gives about 92 MB/S average upload speed.

Dmesg output:

[    0.323948] pm8150a_s3_mmcx_sup_level: regulator get failed, ret=-517
[    0.324633] pm8150a_s3_mmcx_sup_level: supplied by pm8150_s3_mmcx_sup_level
[    0.328906] pm8150a_s4_level: supplied by pm8150a_s3_mmcx_sup_level
[    1.905683] mmc0: SDHCI controller on 8804000.sdhci [8804000.sdhci] using 64-bit ADMA in legacy mode
[    2.168643] mmc0: new ultra high speed SDR104 SDXC card at address aaaa
[    2.169465] mmcblk0: mmc0:aaaa SR64G 59.5 GiB 
[    2.170249]  mmcblk0: p1
[    4.583627] mmc0: data txfr (0x00200000) error: -84 after 0 ms
[    4.583647] mmc0: sdhci: ============ SDHCI REGISTER DUMP ===========
[    4.583658] mmc0: sdhci: Sys addr:  0x00000018 | Version:  0x00007202
[    4.583671] mmc0: sdhci: Blk size:  0x00000200 | Blk cnt:  0x00000010
[    4.583681] mmc0: sdhci: Argument:  0x00000820 | Trn mode: 0x0000003b
[    4.583690] mmc0: sdhci: Present:   0x03f802f6 | Host ctl: 0x0000001e
[    4.583699] mmc0: sdhci: Power:     0x0000000d | Blk gap:  0x00000000
[    4.583708] mmc0: sdhci: Wake-up:   0x00000000 | Clock:    0x00000007
[    4.583718] mmc0: sdhci: Timeout:   0x0000000a | Int stat: 0x00000000
[    4.583728] mmc0: sdhci: Int enab:  0x03bf100b | Sig enab: 0x03bf100b
[    4.583737] mmc0: sdhci: ACmd stat: 0x00000000 | Slot int: 0x00000000
[    4.583745] mmc0: sdhci: Caps:      0x3629c8b2 | Caps_1:   0x0000808f
[    4.583754] mmc0: sdhci: Cmd:       0x0000123a | Max curr: 0x00000000
[    4.583763] mmc0: sdhci: Resp[0]:   0x00000900 | Resp[1]:  0x00000000
[    4.583772] mmc0: sdhci: Resp[2]:   0x00000000 | Resp[3]:  0x00000900
[    4.583779] mmc0: sdhci: Host ctl2: 0x0000000b
[    4.583788] mmc0: sdhci: ADMA Err:  0x00000003 | ADMA Ptr: 0x00000000edc9a224
[    4.583958] mmc0: clk: 201500000 claimer: (null) pwr: 12
[    4.583960] mmc0: rpmstatus[pltfm](runtime-suspend:usage_count:disable_depth)(0:1:0)
[    4.583961] mmc0: sdhci: ============================================
[    4.591617] mmc0: data txfr (0x00200000) error: -84 after 1 ms
[    4.591630] mmc0: sdhci: ============ SDHCI REGISTER DUMP ===========
[    4.591640] mmc0: sdhci: Sys addr:  0x00000180 | Version:  0x00007202
[    4.591650] mmc0: sdhci: Blk size:  0x00000200 | Blk cnt:  0x00000030
[    4.591659] mmc0: sdhci: Argument:  0x00000880 | Trn mode: 0x0000003b
[    4.591668] mmc0: sdhci: Present:   0x030802f6 | Host ctl: 0x0000001e
[    4.591679] mmc0: sdhci: Power:     0x0000000d | Blk gap:  0x00000000
[    4.591691] mmc0: sdhci: Wake-up:   0x00000000 | Clock:    0x00000007
[    4.591701] mmc0: sdhci: Timeout:   0x0000000a | Int stat: 0x00000000
[    4.591711] mmc0: sdhci: Int enab:  0x03bf100b | Sig enab: 0x03bf100b
[    4.591721] mmc0: sdhci: ACmd stat: 0x00000000 | Slot int: 0x00000000
[    4.591730] mmc0: sdhci: Caps:      0x3629c8b2 | Caps_1:   0x0000808f
[    4.591740] mmc0: sdhci: Cmd:       0x0000123a | Max curr: 0x00000000
[    4.591749] mmc0: sdhci: Resp[0]:   0x00000900 | Resp[1]:  0x00000000
[    4.591758] mmc0: sdhci: Resp[2]:   0x00000000 | Resp[3]:  0x00000900
[    4.591766] mmc0: sdhci: Host ctl2: 0x0000000b
[    4.591774] mmc0: sdhci: ADMA Err:  0x00000003 | ADMA Ptr: 0x00000000edc9a3c8
[    4.591933] mmc0: clk: 201500000 claimer: (null) pwr: 12
[    4.591935] mmc0: rpmstatus[pltfm](runtime-suspend:usage_count:disable_depth)(0:1:0)
[    4.591936] mmc0: sdhci: ============================================
[   76.014499] mmc0: data txfr (0x00200000) error: -84 after 0 ms
[   76.014523] mmc0: sdhci: ============ SDHCI REGISTER DUMP ===========
[   76.014533] mmc0: sdhci: Sys addr:  0x00000008 | Version:  0x00007202
[   76.014543] mmc0: sdhci: Blk size:  0x00000200 | Blk cnt:  0x00000001
[   76.014552] mmc0: sdhci: Argument:  0x00000810 | Trn mode: 0x0000003b
[   76.014561] mmc0: sdhci: Present:   0x03f802f6 | Host ctl: 0x0000001e
[   76.014569] mmc0: sdhci: Power:     0x0000000d | Blk gap:  0x00000000
[   76.014577] mmc0: sdhci: Wake-up:   0x00000000 | Clock:    0x00000007
[   76.014586] mmc0: sdhci: Timeout:   0x0000000a | Int stat: 0x00000000
[   76.014594] mmc0: sdhci: Int enab:  0x03ff100b | Sig enab: 0x03ff100b
[   76.014603] mmc0: sdhci: ACmd stat: 0x00000000 | Slot int: 0x00000000
[   76.014612] mmc0: sdhci: Caps:      0x3629c8b2 | Caps_1:   0x0000808f
[   76.014620] mmc0: sdhci: Cmd:       0x0000123a | Max curr: 0x00000000
[   76.014629] mmc0: sdhci: Resp[0]:   0x00000900 | Resp[1]:  0x00000000
[   76.014637] mmc0: sdhci: Resp[2]:   0x00000000 | Resp[3]:  0x00000900
[   76.014650] mmc0: sdhci: Host ctl2: 0x0000000b
[   76.014659] mmc0: sdhci: ADMA Err:  0x00000000 | ADMA Ptr: 0x00000000edc9a20c
[   76.014822] mmc0: clk: 201500000 claimer: (null) pwr: 12
[   76.014824] mmc0: rpmstatus[pltfm](runtime-suspend:usage_count:disable_depth)(0:1:0)
[   76.014825] mmc0: sdhci: ============================================
[   76.017195] mmc0: data txfr (0x00200000) error: -84 after 0 ms
[   76.017206] mmc0: sdhci: ============ SDHCI REGISTER DUMP ===========
[   76.017215] mmc0: sdhci: Sys addr:  0x00000038 | Version:  0x00007202
[   76.017224] mmc0: sdhci: Blk size:  0x00000200 | Blk cnt:  0x00000035
[   76.017232] mmc0: sdhci: Argument:  0x00000840 | Trn mode: 0x0000003b
[   76.017243] mmc0: sdhci: Present:   0x030802f6 | Host ctl: 0x0000001e
[   76.017251] mmc0: sdhci: Power:     0x0000000d | Blk gap:  0x00000000
[   76.017259] mmc0: sdhci: Wake-up:   0x00000000 | Clock:    0x00000007
[   76.017267] mmc0: sdhci: Timeout:   0x0000000a | Int stat: 0x00000000
[   76.017276] mmc0: sdhci: Int enab:  0x03ff100b | Sig enab: 0x03ff100b
[   76.017284] mmc0: sdhci: ACmd stat: 0x00000000 | Slot int: 0x00000000
[   76.017292] mmc0: sdhci: Caps:      0x3629c8b2 | Caps_1:   0x0000808f
[   76.017302] mmc0: sdhci: Cmd:       0x0000123a | Max curr: 0x00000000
[   76.017310] mmc0: sdhci: Resp[0]:   0x00000900 | Resp[1]:  0x00000000
[   76.017318] mmc0: sdhci: Resp[2]:   0x00000000 | Resp[3]:  0x00000900
[   76.017326] mmc0: sdhci: Host ctl2: 0x0000000b
[   76.017333] mmc0: sdhci: ADMA Err:  0x00000003 | ADMA Ptr: 0x00000000edc9a224
[   76.017488] mmc0: clk: 201500000 claimer: (null) pwr: 12
[   76.017490] mmc0: rpmstatus[pltfm](runtime-suspend:usage_count:disable_depth)(0:1:0)
[   76.017491] mmc0: sdhci: ============================================
[   76.326540] EXT4-fs (mmcblk0p1): mounted filesystem with ordered data mode. Opts: (null)

Test Output For SD Card Slot

voxl2:/$ sync && dd if=/dev/zero of=/media/sdcard/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.965705 s, 54.3 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sdcard/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.956928 s, 54.8 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sdcard/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.970479 s, 54.0 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sdcard/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.03216 s, 50.8 MB/s
voxl2:/$ 
voxl2:/$ sync && dd if=/dev/zero of=/media/sdcard/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.06114 s, 49.4 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sdcard/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.00951 s, 51.9 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sdcard/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.0044 s, 52.2 MB/s

Test Output For External SD Card Reader Over USB 3.0

voxl2:/$ sync && dd if=/dev/zero of=/media/gfr/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.593894 s, 88.3 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/gfr/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.576349 s, 91.0 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/gfr/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.597077 s, 87.8 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/gfr/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.548355 s, 95.6 MB/s
voxl2:/$ 
voxl2:/$ sync && dd if=/dev/zero of=/media/gfr/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.585704 s, 89.5 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/gfr/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.552729 s, 94.9 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/gfr/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.591907 s, 88.6 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/gfr/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.550808 s, 95.2 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/gfr/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.588921 s, 89.0 MB/s
voxl2:/$ 
voxl2:/$ sync && dd if=/dev/zero of=/media/gfr/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.559946 s, 93.6 MB/s

I am thinking the difference in speeds is hardware related, but I would like to hear others input.

SD Card Specs: SanDisk Extreme PRO 64GB microSD V30

Note: I also tried a different microsd card, a ProGRADE 128Gb MicroSD card which is V60 and UHS II, and that one would not get detected in the microsd card slot, despite the card reader I have detecting it. I think that might be due to it being a UHS II card

@John-Nomikos Edit: I swapped SD card readers (the original was UHS-I, this one is now UHS-II) and now am seeing 150-200 MB/s for both hats. Speed difference was likely caused by the card reader and not the voxl2. Still weird that there was a speed difference, but oh well

Good afternoon,

I am seeing about double the upload speed when uploading data on to an ext4 SD card when I use the VOXL 2 Ethernet and USB Hub Add-on versus the USB3 UART Add-On, with the exact same SD card and SD card reader. Both are over USB 3.0 JST.

I am wondering what could cause this difference? I looked at the diagram for the Ethernet and USB Hub Add-on and I see that it goes through the legacy connector, yet it has double the upload speed on average when compared to the USB3 UART Add-On.

The specific SD card I am using

Note: I am using a UHS-I SD card reader, but it supports USB-3.0

Here is my data:

ext4 using USB 3.0 hat (27.65 MB/s AVG)

voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 4.83333 s, 10.8 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.43407 s, 36.6 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 3.06638 s, 17.1 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.44299 s, 36.3 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.7253 s, 30.4 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.44141 s, 36.4 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 2.3068 s, 22.7 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.44809 s, 36.2 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.726 s, 30.4 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.83522 s, 28.6 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.75136 s, 29.9 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 3.17873 s, 16.5 MB/s

ext4 using Ethernet and USB Hub Add-on (57.66 MB/s AVG)

voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 4.19313 s, 12.5 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.768765 s, 68.2 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.70849 s, 30.7 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.779255 s, 67.3 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.76896 s, 68.2 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.769244 s, 68.2 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.775723 s, 67.6 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.793661 s, 66.1 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.775242 s, 67.6 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.803807 s, 65.2 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 1.40681 s, 37.3 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 0.78479 s, 66.8 MB/s

I also tested with exfat rather than ext4 using the exfat-fuse package (Note: This is significantly slower than ext4, likely due to the fact that exfat-fuse is not a kernel-level package and thus, that slows it down).
The difference was not as substantial.

exfat using USB 3.0 hat (11.80 MB/s AVG)

voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 2.94688 s, 17.8 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 2.96565 s, 17.7 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 3.46706 s, 15.1 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 4.2239 s, 12.4 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 4.86253 s, 10.8 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 4.56537 s, 11.5 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 4.7555 s, 11.0 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 7.02502 s, 7.5 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 7.07462 s, 7.4 MB/s
voxl2:/$ 
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 6.7923 s, 7.7 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 4.75127 s, 11.0 MB/s

exfat using Ethernet hat (14.65MB/s AVG)

voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 3.23971 s, 16.2 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 2.21505 s, 23.7 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 3.28938 s, 15.9 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 3.7585 s, 13.9 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 3.81527 s, 13.7 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 3.99802 s, 13.1 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 3.76004 s, 13.9 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 4.03387 s, 13.0 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 4.20047 s, 12.5 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 3.72385 s, 14.1 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 3.80692 s, 13.8 MB/s
voxl2:/$ sync && dd if=/dev/zero of=/media/sd/testfile bs=50M count=1 oflag=dsync && sync
1+0 records in
1+0 records out
52428800 bytes (52 MB, 50 MiB) copied, 3.98186 s, 13.2 MB/s

@Alex-Kushleyev I tried on a fresh VOXL2 that I factory flashed with 1.3.3 and did not see the same issue. Was probably something caused by my setup (either in config or something else). I know that particular voxl2 had damage to one of the mipi ports too

I appreciate the help!

Good afternoon,

I discovered an issue that particularly happens when you do voxl-inspect-cam -a.

Upon inspecting all cams, latency jumps dramatically and continues to slowly rise. It seems to cap out right before 1000. The latency reading appears accurate because the video itself also becomes stuttery and delayed on voxl-portal.

Upon further investigation, latency also jumps when inspecting just the hires_large_color stream, or the hires_large_grey streams. But it jumps less than if you inspect all the cams at once.

hires_small_grey, hires_small_color, and hires_small_encoded do not appear to increase in latency upon inspecting them, except if a large stream is being inspected.

Video showing what I am seeing:
https://drive.google.com/file/d/12jBzO54E5ibzsq-t-Q96cDMkEHvysYME/view?usp=sharing

@Moderator Yep, I got routing through the VOXL2 working. The problem was actually in my host and the device I was pinging. I would have to setup static routing on both devices. But I ended up using a NAT on the VOXL2

Thank you for the help!

Good afternoon,

For the past few days, I have been running around in circles trying to make it so my computer with a microhard can ping a device connected to the voxl2 via Ethernet.

Essentially, I have a camera connected to the VOXL2 via Ethernet and the microhard is on usb0. This camera hosts it's own rtsp stream, and does not need to be streamed from the voxl2. From my host computer, I want to be able to connect to the camera connected to the voxl2 and directly ping it's IP. I know to do this, I need to have the VOXL2 route from usb0 to eth0 in some way to make it so when the GCS pings the camera's ip, it goes through the usb0 interface to eth0.

I am pretty new overall to networking, so please correct me if my idea is wrong.

bond0: flags=5123<UP,BROADCAST,MASTER,MULTICAST>  mtu 1500
        ether 0e:ae:7a:d3:cb:54  txqueuelen 1000  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

dummy0: flags=195<UP,BROADCAST,RUNNING,NOARP>  mtu 1500
        inet6 fe80::aee5:90ba:7fd5:a0ed  prefixlen 64  scopeid 0x20<link>
        ether f2:fa:36:1f:17:83  txqueuelen 1000  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 49  bytes 15670 (15.6 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

eth0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 192.168.144.21  netmask 255.255.255.0  broadcast 192.168.144.255
        ether 5c:85:7e:3e:94:33  txqueuelen 1000  (Ethernet)
        RX packets 2577  bytes 154620 (154.6 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 83  bytes 21341 (21.3 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

lo: flags=73<UP,LOOPBACK,RUNNING>  mtu 65536
        inet 127.0.0.1  netmask 255.0.0.0
        inet6 ::1  prefixlen 128  scopeid 0x10<host>
        loop  txqueuelen 1000  (Local Loopback)
        RX packets 95  bytes 8224 (8.2 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 95  bytes 8224 (8.2 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

usb0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 192.168.168.100  netmask 255.255.255.0  broadcast 192.168.168.255
        inet6 fe80::3b33:ef4a:4410:1470  prefixlen 64  scopeid 0x20<link>
        ether 96:dc:72:9d:a5:01  txqueuelen 1000  (Ethernet)
        RX packets 5661  bytes 324594 (324.5 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 3874  bytes 456769 (456.7 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

The first thing I did was enable forwarding on the VOXL2 by uncommenting this line on /etc/sysctl.conf
net.ipv4.ip_forward=1

Then I tried pinging the device from my home computer while connected via microhard.

From my home computer:
I was able to ping 192.168.168.100, which is expected since that is the microhard.
I was able to ping 192.168.144.21 which is the eth0 interface.
However, I have been unable to ping 192.168.144.52, which is the address of the camera, despite being able to ping it successfully on the VOXL2.

john@john-desktop:~$ ping -R 192.168.168.100
PING 192.168.168.100 (192.168.168.100) 56(124) bytes of data.
64 bytes from 192.168.168.100: icmp_seq=1 ttl=64 time=3.06 ms
RR: 	192.168.168.146
	192.168.168.100
	192.168.168.100
	192.168.168.146

64 bytes from 192.168.168.100: icmp_seq=2 ttl=64 time=3.59 ms	(same route)
64 bytes from 192.168.168.100: icmp_seq=3 ttl=64 time=2.68 ms	(same route)
64 bytes from 192.168.168.100: icmp_seq=4 ttl=64 time=3.31 ms	(same route)
^C
--- 192.168.168.100 ping statistics ---
4 packets transmitted, 4 received, 0% packet loss, time 3004ms
rtt min/avg/max/mdev = 2.680/3.159/3.585/0.332 ms
john@john-desktop:~$ ping -R 192.168.144.21
PING 192.168.144.21 (192.168.144.21) 56(124) bytes of data.
64 bytes from 192.168.144.21: icmp_seq=1 ttl=64 time=3.14 ms
RR: 	192.168.168.150
	192.168.144.21
	192.168.144.21
	192.168.168.150

64 bytes from 192.168.144.21: icmp_seq=2 ttl=64 time=2.81 ms	(same route)
64 bytes from 192.168.144.21: icmp_seq=3 ttl=64 time=2.99 ms	(same route)
64 bytes from 192.168.144.21: icmp_seq=4 ttl=64 time=2.84 ms	(same route)
64 bytes from 192.168.144.21: icmp_seq=5 ttl=64 time=2.85 ms	(same route)
64 bytes from 192.168.144.21: icmp_seq=6 ttl=64 time=2.77 ms	(same route)
^C
--- 192.168.144.21 ping statistics ---
6 packets transmitted, 6 received, 0% packet loss, time 5009ms
rtt min/avg/max/mdev = 2.771/2.900/3.137/0.126 ms

I've tried changing the routing table to allow for connections over usb0 that point to 192.168.144.52 to go over eth0, but I haven't had luck. I am unsure if there is something I'm doing wrong here.

Here is my routing table:

voxl2:/etc/modalai$ ip route
default via 192.168.168.1 dev usb0 src 192.168.168.106 metric 209 
169.254.0.0/16 dev eth0 proto kernel scope link src 169.254.208.31 metric 208 
192.168.144.0/24 dev eth0 proto kernel src 192.168.144.21 metric 202 
192.168.168.0/24 dev usb0 scope link src 192.168.168.100 

I've also tried this routing table to enforce that we should be routing pings to 192.168.144.52 to eth0 :

default via 192.168.168.1 dev usb0 src 192.168.168.106 metric 209 
169.254.0.0/16 dev eth0 proto kernel scope link src 169.254.208.31 metric 208 
192.168.144.0/24 dev eth0 proto kernel scope link src 192.168.144.21 
192.168.144.52 dev eth0 scope link src 192.168.168.100 
192.168.168.0/24 dev usb0 scope link src 192.168.168.100 

The outcome is the same when changing the routing table. However, I know that changing the routing table is doing SOMETHING because if I remove all eth0 entries, I cannot ping any eth0 device.

Am I thinking of this wrong? Is there anything I should try? Does the VOXL2 handle routing differently, or is there anything custom going on?

@Alex-Kushleyev I mean, since it is a static service, disabling it does not actually disable it. It appears to do nothing. Upon rebooting, adb still works

I was able to "disable adb" by simply changing the name of the adbd executable to .adbd