---
# System prepended metadata

title: Effect of packege-loss on drone choreography

---

# Effect of packege-loss on drone choreography

## introduction 

## Why use Docker
Using containeriztion facilitates the deployment on different machines by a lot since the configuration file just needs to be downloaded and deployed.

Furthermore it increases reproducability due to no side effects to the host system.

Ros melodic is used in a Docker container. The Image is based on the `ros:melodic` image.
The Dockerfile can be found

## Installation of drone ROS1 (melodic)

The system consists of three individual parts
- **master** uses it own docker container based on the `ros:melodic` directly
- **connector** uses a self-build image with the compiled connector for the Bebop Drone
- **controller** also self-build image in which the controlling software is running

all this containers are in the same docker network, and exchange data between the containers
for the connector container it was nessecary to export the port `43210:43210/udp` for connectivity from the drone to the ros notelet
otherwise we got the error:
```log
connector   | [ERROR] [1673947830.046306262]: [ARNETWORK_Sender] 09:30:30:045 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0xffff7c0033d0] Timeout waiting for ack in buffer 11
connector   | [ERROR] [1673947830.046451179]: [ARNETWORK_Sender] 09:30:30:046 | ARNETWORK_Sender_ProcessBufferToSend:421 - [0xffff7c0033d0] Will retry sending data of buffer 11
connector   | [ERROR] [1673947830.198080554]: [ARNETWORK_Sender] 09:30:30:197 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0xffff7c0033d0] Timeout waiting for ack in buffer 11
connector   | [ERROR] [1673947830.198203429]: [ARNETWORK_Sender] 09:30:30:198 | ARNETWORK_Sender_ProcessBufferToSend:421 - [0xffff7c0033d0] Will retry sending data of buffer 11
```
## First takeoff

after the docker containers where working and correctly configured you just had to start all the docker containers
```bash!
docker compose up
```
the first test was done using the `rostopic` command. So we published an empty message to the `/bebop/takeoff` topic using the `controller` container

```bash!
docker exec -it controller /bin/bash -c "source /entrypoint.sh; rostopic pub --once /bebop/takeoff std_msgs/Empty"
```
and to land the drone
```bash!
docker exec -it controller /bin/bash -c "source /entrypoint.sh; rostopic pub --once /bebop/land std_msgs/Empty"
```
If this doesn't work we have a checklist what to check:
- is the drone on and green light
- restart docker container (stop them compleatly and restart using `docker compose up`)
- are there 

Now we where sure that our docker installation worked, we could procced to run our first python tests

## Basic drone navigation with matlab
https://fr.mathworks.com/help/supportpkg/parrotio/drone-navigation.html?s_tid=CRUX_topnav
This works with Matlab, simulink (?) and parrot drone addon
# 1. Project objective

The aim of this project is to analyze the effects of different types of interference on a drone's behaviour.

# 2. Contribution summary

# 3. Robotic equipment used

Parrot drones
Inflatable net cage
Square rubber mats
laptops

# 4. Robot behaviour and decision making

Our parrot drones will follow a choreography and we will study the effects of interference on their ability to keep doing the choreography

## 4.1. Behaviour strategy
## 4.2. Technical and software development

Learning and using iperf3
sender : from the client : upload speed
receiver : download speed

# 5. Experiments and validation
## 5.1. Experimental protocol

!!!Passage à traduire en anglais
Schéma à dessiner : drone D, PC de contrôle PCC, PC de Brouillage Wi-Fi PCB

Avec iperf, mettre en place un serveur sur PCC et un client sur PCB pour inonder la bande passante et détériorer le contôle du drone en atterrissage au début.

Pour déterminer le seuil de saturation de la bande passante, on utilise iperf en mode tcp d'abord.

Première expérience :
Tester en saturation complète et observer si aucun changement, délai plus ou moins sévère ou échec total de la commande.
Selon le cas obtenu, tester avec charge moins importante progressivement.

Seconde expérience : 
Tester l'interférence en cas de chorégraphie du robot : influence d'une charge plus ou moins importante sur la trajectoire et/ou la menée à bien ou non de la choré.

Etape avancée : capter les trames wifi correspondant aux commandes ros avec wireshark.
En cas de chorégraphie, calculer (sans interférence) le volume de données transmis.
Ensuite ajouter des interférences et comparer le volume d'infos transmises dans ce cas là. Y a-t-il évolution ???

Expériences hors iperf : 
Eloigner l'ordi de contrôle (pendant une choré ?) et observer le comportement du drone : maintien, retards ou arrêt de la chorégraphie...
Capturer les trames pendant l'expérience pour analyse ?

## 5.2. Experiments results

first experiment : 30M -> overloaded wifi network resulting in command not coming through to the drone. The bebop did not land.
iperf3 -c 192.168.42.4 -u -t 30 -b 30M
flooded for 30 seconds (interrupted) at a target bandwidth of 30Mb
Concern about safety protocol being overrun....

## results
we noticed that the package loss increased after 

**TODO!**

while leaving we noticed that the glass had a big influence 

```log!
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 48900
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 59890
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   115 KBytes   936 Kbits/sec  12.274 ms  0/81 (0%)  
[  5]   1.00-2.00   sec   124 KBytes  1.02 Mbits/sec  11.890 ms  0/88 (0%)  
[  5]   2.00-3.00   sec   120 KBytes   984 Kbits/sec  11.433 ms  0/85 (0%)  
[  5]   3.00-4.00   sec   119 KBytes   972 Kbits/sec  13.984 ms  0/84 (0%)  
[  5]   4.00-5.00   sec   113 KBytes   924 Kbits/sec  8.776 ms  0/80 (0%)  
[  5]   5.00-6.00   sec   132 KBytes  1.08 Mbits/sec  9.209 ms  0/93 (0%)  
[  5]   6.00-7.00   sec   123 KBytes  1.01 Mbits/sec  7.658 ms  0/87 (0%)  
[  5]   7.00-8.00   sec   123 KBytes  1.01 Mbits/sec  12.111 ms  1/88 (1.1%)  
[  5]   8.00-9.00   sec   119 KBytes   972 Kbits/sec  10.762 ms  0/84 (0%)  
[  5]   9.00-10.00  sec   126 KBytes  1.03 Mbits/sec  11.754 ms  0/89 (0%)  
[  5]  10.00-10.08  sec  5.66 KBytes   580 Kbits/sec  11.189 ms  0/4 (0%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-10.08  sec  1.19 MBytes   991 Kbits/sec  11.189 ms  1/863 (0.12%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 51282
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 50245
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   132 KBytes  1.07 Mbits/sec  11.660 ms  4/97 (4.1%)  
[  5]   1.00-2.00   sec   311 KBytes  2.55 Mbits/sec  9.076 ms  3/223 (1.3%)  
[  5]   2.00-3.00   sec   264 KBytes  2.16 Mbits/sec  7.555 ms  0/187 (0%)  
[  5]   3.00-4.00   sec   249 KBytes  2.05 Mbits/sec  6.963 ms  0/176 (0%)  
[  5]   4.00-5.01   sec   206 KBytes  1.68 Mbits/sec  8.105 ms  1/147 (0.68%)  
[  5]   5.01-6.00   sec   279 KBytes  2.29 Mbits/sec  6.039 ms  3/200 (1.5%)  
[  5]   6.00-7.00   sec   236 KBytes  1.93 Mbits/sec  7.612 ms  0/167 (0%)  
[  5]   7.00-8.00   sec   236 KBytes  1.94 Mbits/sec  9.359 ms  0/167 (0%)  
[  5]   8.00-9.01   sec   242 KBytes  1.97 Mbits/sec  4.637 ms  0/171 (0%)  
[  5]   9.01-10.01  sec   255 KBytes  2.09 Mbits/sec  6.157 ms  0/180 (0%)  
[  5]  10.01-10.09  sec  11.3 KBytes  1.05 Mbits/sec  10.066 ms  0/8 (0%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-10.09  sec  2.36 MBytes  1.96 Mbits/sec  10.066 ms  11/1723 (0.64%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 43834
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 54586
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   349 KBytes  2.85 Mbits/sec  3.575 ms  0/247 (0%)  
[  5]   1.00-2.00   sec   372 KBytes  3.05 Mbits/sec  4.507 ms  0/263 (0%)  
[  5]   2.00-3.00   sec   366 KBytes  3.00 Mbits/sec  4.406 ms  3/262 (1.1%)  
[  5]   3.00-4.00   sec   236 KBytes  1.93 Mbits/sec  11.172 ms  0/167 (0%)  
[  5]   4.00-5.00   sec   443 KBytes  3.63 Mbits/sec  7.632 ms  6/319 (1.9%)  
[  5]   5.00-6.00   sec   385 KBytes  3.14 Mbits/sec  2.694 ms  0/272 (0%)  
[  5]   6.00-7.00   sec   379 KBytes  3.10 Mbits/sec  4.480 ms  2/270 (0.74%)  
[  5]   7.00-8.00   sec   375 KBytes  3.08 Mbits/sec  3.561 ms  0/265 (0%)  
[  5]   8.00-9.00   sec   361 KBytes  2.96 Mbits/sec  4.470 ms  0/255 (0%)  
[  5]   9.00-10.00  sec   348 KBytes  2.85 Mbits/sec  3.944 ms  0/246 (0%)  
[  5]  10.00-10.09  sec  31.1 KBytes  2.95 Mbits/sec  4.841 ms  0/22 (0%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-10.09  sec  3.56 MBytes  2.96 Mbits/sec  4.841 ms  11/2588 (0.43%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 36758
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 42251
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   315 KBytes  2.58 Mbits/sec  8.383 ms  0/223 (0%)  
[  5]   1.00-2.00   sec   212 KBytes  1.73 Mbits/sec  3.990 ms  31/181 (17%)  
[  5]   2.00-3.01   sec   163 KBytes  1.33 Mbits/sec  4.455 ms  207/322 (64%)  
[  5]   3.01-4.00   sec   588 KBytes  4.84 Mbits/sec  6.004 ms  57/473 (12%)  
[  5]   4.00-5.00   sec  0.00 Bytes  0.00 bits/sec  6.004 ms  0/0 (0%)  
[  5]   5.00-6.00   sec  35.4 KBytes   290 Kbits/sec  16.008 ms  3/28 (11%)  
[  5]   6.00-7.00   sec  0.00 Bytes  0.00 bits/sec  16.008 ms  0/0 (0%)  
[  5]   7.00-8.00   sec   462 KBytes  3.79 Mbits/sec  5.267 ms  -16/311 (-5.1%)  
[  5]   8.00-9.00   sec   489 KBytes  4.02 Mbits/sec  7.210 ms  -88/258 (-34%)  
[  5]   9.00-10.00  sec   428 KBytes  3.51 Mbits/sec  6.055 ms  -66/237 (-28%)  
[  5]  10.00-10.21  sec  79.2 KBytes  3.13 Mbits/sec  4.384 ms  0/56 (0%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[SUM]  0.0-10.2 sec  310 datagrams received out-of-order
[  5]   0.00-10.21  sec  2.71 MBytes  2.23 Mbits/sec  4.384 ms  128/2089 (6.1%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 52546
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 39954
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   361 KBytes  2.95 Mbits/sec  2.942 ms  0/226 (0%)  
[  5]   1.00-2.00   sec   385 KBytes  3.14 Mbits/sec  6.538 ms  0/235 (0%)  
[  5]   2.00-3.00   sec   727 KBytes  5.97 Mbits/sec  5.781 ms  3/456 (0.66%)  
[  5]   3.00-4.00   sec   677 KBytes  5.53 Mbits/sec  3.637 ms  -3/404 (-0.74%)  
[  5]   4.00-5.00   sec   682 KBytes  5.57 Mbits/sec  3.327 ms  0/411 (0%)  
[  5]   5.00-6.00   sec   370 KBytes  3.05 Mbits/sec  15.434 ms  0/220 (0%)  
[  5]   6.00-7.00   sec   320 KBytes  2.62 Mbits/sec  3.746 ms  0/190 (0%)  
[  5]   7.00-8.00   sec   363 KBytes  2.98 Mbits/sec  3.033 ms  0/253 (0%)  
[  5]   8.00-9.00   sec   653 KBytes  5.35 Mbits/sec  2.895 ms  0/460 (0%)  
[  5]   9.00-10.00  sec   574 KBytes  4.71 Mbits/sec  8.203 ms  12/379 (3.2%)  
[  5]  10.00-10.17  sec  91.9 KBytes  4.38 Mbits/sec  3.338 ms  -12/53 (-23%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[SUM]  0.0-10.2 sec  875 datagrams received out-of-order
[  5]   0.00-10.17  sec  5.08 MBytes  4.19 Mbits/sec  3.338 ms  0/3287 (0%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 51756
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 44052
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   670 KBytes  5.49 Mbits/sec  3.855 ms  3/462 (0.65%)  
[  5]   1.00-2.00   sec   665 KBytes  5.44 Mbits/sec  7.770 ms  3/426 (0.7%)  
[  5]   2.00-3.00   sec   484 KBytes  3.95 Mbits/sec  20.795 ms  -6/218 (-2.8%)  
[  5]   3.00-4.00   sec  0.00 Bytes  0.00 bits/sec  20.795 ms  0/0 (0%)  
[  5]   4.00-5.00   sec  0.00 Bytes  0.00 bits/sec  20.795 ms  0/0 (0%)  
[  5]   5.00-6.00   sec  11.3 KBytes  93.0 Kbits/sec  135.049 ms  19/27 (70%)  
[  5]   6.00-7.01   sec  31.1 KBytes   254 Kbits/sec  50.307 ms  9/31 (29%)  
[  5]   7.01-8.00   sec   625 KBytes  5.14 Mbits/sec  3.991 ms  -4/438 (-0.91%)  
[  5]   8.00-9.00   sec   542 KBytes  4.44 Mbits/sec  3.445 ms  -19/364 (-5.2%)  
[  5]   9.00-10.00  sec   469 KBytes  3.84 Mbits/sec  1.914 ms  -5/303 (-1.7%)  
[  5]  10.00-10.64  sec   433 KBytes  5.55 Mbits/sec  5.859 ms  0/258 (0%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[SUM]  0.0-10.6 sec  773 datagrams received out-of-order
[  5]   0.00-10.64  sec  3.84 MBytes  3.03 Mbits/sec  5.859 ms  0/2527 (0%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 60756
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 59129
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   385 KBytes  3.15 Mbits/sec  16.122 ms  51/321 (16%)  
[  5]   1.00-2.00   sec   823 KBytes  6.71 Mbits/sec  2.844 ms  -51/495 (-10%)  
[  5]   2.00-3.00   sec   506 KBytes  4.17 Mbits/sec  54.806 ms  51/409 (12%)  
[  5]   3.00-4.00   sec   591 KBytes  4.84 Mbits/sec  126.426 ms  -7/336 (-2.1%)  
[  5]   4.00-5.00   sec   745 KBytes  6.10 Mbits/sec  93.059 ms  -44/400 (-11%)  
[  5]   5.00-6.00   sec   732 KBytes  6.00 Mbits/sec  1.786 ms  32/365 (8.8%)  
[  5]   6.00-7.00   sec   645 KBytes  5.28 Mbits/sec  12.852 ms  -32/371 (-8.6%)  
[  5]   7.00-8.00   sec   809 KBytes  6.62 Mbits/sec  8.632 ms  28/449 (6.2%)  
[  5]   8.00-9.00   sec   824 KBytes  6.75 Mbits/sec  56.647 ms  -26/464 (-5.6%)  
[  5]   9.00-10.00  sec   751 KBytes  6.15 Mbits/sec  202.084 ms  -2/436 (-0.46%)  
[  5]  10.00-11.00  sec  1.08 MBytes  8.99 Mbits/sec  20.375 ms  128/837 (15%)  
[  5]  11.00-12.00  sec   793 KBytes  6.53 Mbits/sec  36.430 ms  237/798 (30%)  
[  5]  12.00-12.13  sec   255 KBytes  16.4 Mbits/sec  135.114 ms  -165/15 (-1.1e+03%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[SUM]  0.0-12.1 sec  3126 datagrams received out-of-order
[  5]   0.00-12.13  sec  8.75 MBytes  6.05 Mbits/sec  135.114 ms  200/5696 (3.5%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 34760
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 55326
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   663 KBytes  5.43 Mbits/sec  2.947 ms  0/437 (0%)  
[  5]   1.00-2.00   sec   805 KBytes  6.59 Mbits/sec  4.302 ms  0/532 (0%)  
[  5]   2.00-3.00   sec   509 KBytes  4.17 Mbits/sec  25.540 ms  113/438 (26%)  
[  5]   3.00-4.00   sec   313 KBytes  2.56 Mbits/sec  6.600 ms  28/249 (11%)  
[  5]   4.00-5.00   sec   424 KBytes  3.47 Mbits/sec  29.911 ms  -5/295 (-1.7%)  
[  5]   5.00-6.00   sec   269 KBytes  2.20 Mbits/sec  103.341 ms  54/244 (22%)  
[  5]   6.00-7.00   sec   351 KBytes  2.87 Mbits/sec  133.007 ms  16/264 (6.1%)  
[  5]   7.00-8.00   sec   409 KBytes  3.35 Mbits/sec  662.383 ms  -17/272 (-6.2%)  
[  5]   8.00-9.00   sec   827 KBytes  6.78 Mbits/sec  10.978 ms  -189/352 (-54%)  
[  5]   9.00-10.00  sec   708 KBytes  5.80 Mbits/sec  2.945 ms  0/397 (0%)  
[  5]  10.00-11.00  sec   930 KBytes  7.62 Mbits/sec  10.442 ms  12/566 (2.1%)  
[  5]  11.00-12.00  sec  1.01 MBytes  8.50 Mbits/sec  2.651 ms  45/664 (6.8%)  
[  5]  12.00-12.12  sec   117 KBytes  8.32 Mbits/sec  9.913 ms  -57/10 (-5.7e+02%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[SUM]  0.0-12.1 sec  2201 datagrams received out-of-order
[  5]   0.00-12.12  sec  7.19 MBytes  4.98 Mbits/sec  9.913 ms  0/4720 (0%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 57408
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 34705
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   628 KBytes  5.14 Mbits/sec  6.115 ms  0/410 (0%)  
[  5]   1.00-2.00   sec   486 KBytes  3.97 Mbits/sec  2.371 ms  116/437 (27%)  
[  5]   2.00-3.00   sec   639 KBytes  5.25 Mbits/sec  15.591 ms  -115/292 (-39%)  
[  5]   3.00-4.00   sec   400 KBytes  3.28 Mbits/sec  23.571 ms  97/369 (26%)  
[  5]   4.00-5.00   sec   411 KBytes  3.37 Mbits/sec  7.478 ms  -98/118 (-83%)  
[  5]   5.00-6.00   sec   769 KBytes  6.31 Mbits/sec  21.757 ms  74/618 (12%)  
[  5]   6.00-7.00   sec   765 KBytes  6.27 Mbits/sec  51.255 ms  -42/456 (-9.2%)  
[  5]   7.00-8.00   sec   662 KBytes  5.42 Mbits/sec  33.385 ms  1/434 (0.23%)  
[  5]   8.00-9.00   sec   731 KBytes  5.99 Mbits/sec  12.591 ms  -33/352 (-9.4%)  
[  5]   9.00-10.00  sec   785 KBytes  6.43 Mbits/sec  33.107 ms  94/456 (21%)  
[  5]  10.00-11.00  sec   807 KBytes  6.61 Mbits/sec  112.445 ms  -94/405 (-23%)  
[  5]  11.00-12.00  sec  1001 KBytes  8.20 Mbits/sec  79.294 ms  59/505 (12%)  
[  5]  12.00-12.33  sec   375 KBytes  9.36 Mbits/sec  3.973 ms  -59/147 (-40%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[SUM]  0.0-12.3 sec  2869 datagrams received out-of-order
[  5]   0.00-12.33  sec  8.26 MBytes  5.62 Mbits/sec  3.973 ms  0/4999 (0%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 44160
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 51105
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   471 KBytes  3.85 Mbits/sec  6.919 ms  0/312 (0%)  
[  5]   1.00-2.00   sec   519 KBytes  4.25 Mbits/sec  4.314 ms  0/350 (0%)  
[  5]   2.00-3.00   sec   557 KBytes  4.55 Mbits/sec  5.564 ms  0/373 (0%)  
[  5]   3.00-4.00   sec   441 KBytes  3.62 Mbits/sec  7.633 ms  0/293 (0%)  
[  5]   4.00-5.00   sec   556 KBytes  4.56 Mbits/sec  5.331 ms  0/376 (0%)  
[  5]   5.00-6.00   sec   481 KBytes  3.94 Mbits/sec  3.477 ms  0/330 (0%)  
[  5]   6.00-7.00   sec   587 KBytes  4.80 Mbits/sec  3.133 ms  0/398 (0%)  
[  5]   7.00-8.00   sec   457 KBytes  3.75 Mbits/sec  5.902 ms  0/307 (0%)  
[  5]   8.00-9.00   sec   619 KBytes  5.07 Mbits/sec  15.027 ms  3/417 (0.72%)  
[  5]   9.00-10.00  sec   574 KBytes  4.71 Mbits/sec  3.208 ms  -2/353 (-0.57%)  
[  5]  10.00-10.26  sec   123 KBytes  3.88 Mbits/sec  8.430 ms  0/78 (0%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[SUM]  0.0-10.3 sec  656 datagrams received out-of-order
[  5]   0.00-10.26  sec  5.26 MBytes  4.30 Mbits/sec  8.430 ms  1/3587 (0.028%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 51658
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 51726
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   549 KBytes  4.49 Mbits/sec  5.277 ms  1/342 (0.29%)  
[  5]   1.00-2.00   sec   510 KBytes  4.19 Mbits/sec  3.727 ms  0/324 (0%)  
[  5]   2.00-3.00   sec   356 KBytes  2.91 Mbits/sec  7.008 ms  -1/231 (-0.43%)  
[  5]   3.00-4.00   sec   516 KBytes  4.24 Mbits/sec  3.019 ms  0/343 (0%)  
[  5]   4.00-5.00   sec   580 KBytes  4.74 Mbits/sec  3.800 ms  0/371 (0%)  
[  5]   5.00-6.00   sec   494 KBytes  4.05 Mbits/sec  8.112 ms  0/334 (0%)  
[  5]   6.00-7.00   sec   591 KBytes  4.84 Mbits/sec  3.700 ms  0/386 (0%)  
[  5]   7.00-8.00   sec   363 KBytes  2.97 Mbits/sec  36.808 ms  60/302 (20%)  
[  5]   8.00-9.00   sec   716 KBytes  5.85 Mbits/sec  3.459 ms  -60/420 (-14%)  
[  5]   9.00-10.00  sec   397 KBytes  3.26 Mbits/sec  8.163 ms  0/274 (0%)  
[  5]  10.00-10.40  sec   103 KBytes  2.10 Mbits/sec  5.080 ms  0/67 (0%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[SUM]  0.0-10.4 sec  737 datagrams received out-of-order
[  5]   0.00-10.40  sec  5.05 MBytes  4.08 Mbits/sec  5.080 ms  0/3394 (0%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 36202
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 35054
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   300 KBytes  2.45 Mbits/sec  10.877 ms  1/209 (0.48%)  
[  5]   1.00-2.00   sec   532 KBytes  4.36 Mbits/sec  16.831 ms  -1/317 (-0.32%)  
[  5]   2.00-3.00   sec   598 KBytes  4.90 Mbits/sec  6.694 ms  0/391 (0%)  
[  5]   3.00-4.00   sec   469 KBytes  3.84 Mbits/sec  3.164 ms  0/321 (0%)  
[  5]   4.00-5.00   sec   591 KBytes  4.83 Mbits/sec  7.669 ms  0/372 (0%)  
[  5]   5.00-6.00   sec   740 KBytes  6.08 Mbits/sec  2.437 ms  1/508 (0.2%)  
[  5]   6.00-7.00   sec   858 KBytes  7.02 Mbits/sec  2.469 ms  -1/577 (-0.17%)  
[  5]   7.00-8.00   sec  1.03 MBytes  8.63 Mbits/sec  1.931 ms  0/703 (0%)  
[  5]   8.00-9.00   sec   988 KBytes  8.10 Mbits/sec  2.100 ms  0/638 (0%)  
[  5]   9.00-10.00  sec   727 KBytes  5.95 Mbits/sec  2.717 ms  1/504 (0.2%)  
[  5]  10.00-10.08  sec  69.3 KBytes  7.28 Mbits/sec  2.304 ms  0/49 (0%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[SUM]  0.0-10.1 sec  1085 datagrams received out-of-order
[  5]   0.00-10.08  sec  6.76 MBytes  5.63 Mbits/sec  2.304 ms  1/4589 (0.022%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 51752
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 43191
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   856 KBytes  7.01 Mbits/sec  3.261 ms  0/574 (0%)  
[  5]   1.00-2.00   sec   769 KBytes  6.28 Mbits/sec  6.615 ms  58/602 (9.6%)  
[  5]   2.00-3.00   sec  1.30 MBytes  11.0 Mbits/sec  1.922 ms  -58/730 (-7.9%)  
[  5]   3.00-4.00   sec   954 KBytes  7.81 Mbits/sec  3.215 ms  0/652 (0%)  
[  5]   4.00-5.00   sec   963 KBytes  7.90 Mbits/sec  7.064 ms  17/691 (2.5%)  
[  5]   5.00-6.00   sec   942 KBytes  7.71 Mbits/sec  6.856 ms  -17/600 (-2.8%)  
[  5]   6.00-7.00   sec  1.11 MBytes  9.32 Mbits/sec  2.792 ms  4/722 (0.55%)  
[  5]   7.00-8.01   sec   798 KBytes  6.50 Mbits/sec  3.978 ms  -4/519 (-0.77%)  
[  5]   8.01-9.00   sec  1.00 MBytes  8.43 Mbits/sec  4.562 ms  0/627 (0%)  
[  5]   9.00-10.00  sec  1.02 MBytes  8.55 Mbits/sec  1.658 ms  0/666 (0%)  
[  5]  10.00-10.14  sec  74.9 KBytes  4.26 Mbits/sec  4.574 ms  0/52 (0%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[SUM]  0.0-10.1 sec  1623 datagrams received out-of-order
[  5]   0.00-10.14  sec  9.67 MBytes  7.99 Mbits/sec  4.574 ms  0/6435 (0%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 53042
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 39270
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec  1.16 MBytes  9.72 Mbits/sec  1.708 ms  0/805 (0%)  
[  5]   1.00-2.00   sec  1.13 MBytes  9.50 Mbits/sec  3.265 ms  1/761 (0.13%)  
[  5]   2.00-3.00   sec   943 KBytes  7.71 Mbits/sec  5.291 ms  0/604 (0%)  
[  5]   3.00-4.00   sec   829 KBytes  6.81 Mbits/sec  11.620 ms  0/537 (0%)  
[  5]   4.00-5.00   sec   611 KBytes  5.01 Mbits/sec  37.545 ms  3/435 (0.69%)  
[  5]   5.00-6.00   sec   452 KBytes  3.69 Mbits/sec  8.107 ms  -4/175 (-2.3%)  
[  5]   6.00-7.00   sec  1.02 MBytes  8.58 Mbits/sec  2.525 ms  0/692 (0%)  
[  5]   7.00-8.00   sec  1.01 MBytes  8.48 Mbits/sec  3.564 ms  0/647 (0%)  
[  5]   8.00-9.00   sec   872 KBytes  7.13 Mbits/sec  9.504 ms  12/574 (2.1%)  
[  5]   9.00-10.00  sec   682 KBytes  5.57 Mbits/sec  154.656 ms  -12/330 (-3.6%)  
[  5]  10.00-11.01  sec  1.08 MBytes  9.02 Mbits/sec  23.377 ms  34/464 (7.3%)  
[  5]  11.01-11.62  sec   803 KBytes  10.7 Mbits/sec  37.818 ms  -34/160 (-21%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[SUM]  0.0-11.6 sec  2885 datagrams received out-of-order
[  5]   0.00-11.62  sec  10.5 MBytes  7.56 Mbits/sec  37.818 ms  0/6184 (0%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 39740
[  5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 41207
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   566 KBytes  4.63 Mbits/sec  6.754 ms  60/401 (15%)  
[  5]   1.00-2.00   sec  1.02 MBytes  8.56 Mbits/sec  42.444 ms  -34/514 (-6.6%)  
[  5]   2.00-3.00   sec   822 KBytes  6.72 Mbits/sec  11.850 ms  -26/431 (-6%)  
[  5]   3.00-4.00   sec   304 KBytes  2.49 Mbits/sec  3.551 ms  109/286 (38%)  
[  5]   4.00-5.00   sec   525 KBytes  4.31 Mbits/sec  5.929 ms  -69/302 (-23%)  
[  5]   5.00-6.00   sec   397 KBytes  3.25 Mbits/sec  26.393 ms  70/296 (24%)  
[  5]   6.00-7.01   sec   365 KBytes  2.98 Mbits/sec  21.559 ms  -82/176 (-47%)  
[  5]   7.01-8.00   sec   284 KBytes  2.34 Mbits/sec  6.810 ms  6/203 (3%)  
[  5]   8.00-9.00   sec   313 KBytes  2.55 Mbits/sec  53.293 ms  4/130 (3.1%)  
[  5]   9.00-10.00  sec   293 KBytes  2.41 Mbits/sec  8.222 ms  -38/31 (-1.2e+02%)  
[  5]  10.00-11.00  sec   687 KBytes  5.63 Mbits/sec  5.349 ms  0/449 (0%)  
[  5]  11.00-12.00  sec   720 KBytes  5.89 Mbits/sec  55.068 ms  17/526 (3.2%)  
[  5]  12.00-12.82  sec   611 KBytes  6.11 Mbits/sec  9.048 ms  1426/1810 (79%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[SUM]  0.0-12.8 sec  2675 datagrams received out-of-order
[  5]   0.00-12.82  sec  6.77 MBytes  4.43 Mbits/sec  9.048 ms  1443/5555 (26%)  receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
^Ciperf3: interrupt - the server has terminated

```


# 6. Conclusion
# 7. References 
# 8. Technical Appendices



3-5 slides 10 min pour expliquer ce qu'on a fait including choix (eventuellement questions ) puis démonstration 10min

rapport à rédiger + archive de code et readme

notes de dernière ligne droite

surchage 30Mbit premier crash

expérience 2 
charge croissante

Expérience éloignement plusieurs dizaines de mètres

demander envoyer stat a freq regu et observer délai créé...
    