Latency of Formant features

Feature	Expected Connection Time	Formant Incurred latency	Expected Network Latency	Comment
Real-time video	100ms - 3s	20ms	100ms Highly Dependent on network and bandwidth used	“Expected Connection Time” is the time it takes to start a Formant Realtime connection
Event	N/A	<1.5s	Negligible	Main latency introduced by a 0.7s poll on the frontend
Telemetry stream (ROS)	N/A	<1.5s	Negligible	Main latency introduced by a 0.7s poll on the frontend
Telemetry stream (API)	N/A	<1.5s	Negligible	Main latency introduced by a 0.7s poll on the frontend
Command	N/A	<6s	Negligible	Main latency introduced by a 3s poll on the agent
Realtime Command	1ms	75ms Highly Dependent on network and bandwidth used	Depends on QoS. Boolean Realtime commands are sent as reliable, and therefore simulate TCP over UDP -- High packet loss can drastically increase the network latency	Can be identified as half of the Formant displayed ping
Intervention Response	N/A	<3s	Negligible	Main latency introduced by a 1.5s poll on the agent