anchor.diff:  
   [.text-center]
   .Operating system jitter of Scientific Linux 6.6 with MRG Realtime
  -image::udp/os-jitter-linux-rt.png[link="../images/udp/os-jitter-linux-rt.png", width="100%"]
  +image::udp/os-jitter-linux-rt.png[link="{imagesdir}/udp/os-jitter-linux-rt.png", width="100%"]
   
   The two figures below show the round-trip time for each measurement. It may be surprising, but there was again no packet loss or re-ordering of packets from any single source. 
   
  
positive.code: 
  [.text-center]
  .OS jitter of ChibiOS 2.6.8 on STM32F407 (24h)
  image::udp/os-jitter-embedded.png[link="../images/udp/os-jitter-embedded.png", width="100%"]
  
  The two figures below show the round-trip time for all packets and the corresponding percentile distribution. There were a total of 8.5 million messages. None of them were lost and none of them arrived out of order.
  
  [[img-rtt-24h]]
  [.text-center]
  .RTT for 200 byte payload (24h)
  image::udp/rtt-baseline.png[link="../images/udp/rtt-baseline.png", width="100%"]
  
  [.text-center]
  .Zoomed in view of RTT for 200 byte payload (10min)
  image::udp/rtt-baseline-zoomed.png[link="../images/udp/rtt-baseline-zoomed.png", width="100%"]
  
  90% of all packets arrived within 194us and a jitter of less than 1 microsecond. Roughly 80us of this time was spent on the wire, so using chips that support Gigabit (rather than 100Mbit) could lower the round-trip time to ~120us. Above the common case, there were three different periodically reoccuring modes that resulted in additional latency.
  
  
negative.code: 
  [.text-center]
  .Baseline RTT comparing RTOS vs RT-Linux vs Windows (10h)
  image::udp/rtt-linux-1x-comparison-10h.png[link="{imagesdir}/udp/rtt-linux-1x-comparison-10h.png", width="100%"]
  
  [.text-center]
  .Zoomed in baseline RTT comparing RTOS vs RT-Linux vs Windows (10min)
  image::udp/rtt-linux-1x-comparison-10m.png[link="{imagesdir}/udp/rtt-linux-1x-comparison-10m.png", width="100%"]
  
  We realize that there are many more interesting questions that were beyond the scope of this work. We are currently considering the following networking-related topics for future blog posts:
  
  