RPI4 latency - is this normal

Try turning off audio as well.

You have the minimum ferror limit very small:
MIN_FERROR = 0.0025
(2.5 microns)

I would increase that to at least 0.01

As far as determining the source of following errors, the best way
is to first widen the following error limits (so you don't get a fault)
and then plot the following error (with HALScope) along with joint
velocity.

Also if the RPI is connected to the internet. make sure you have
ntp installed. The default RPI time demon (timesyncd) makes step
changes is the clock which causes changes in the servo thread
period too fast for the 7I96's DPLL to follow.

thanks PCW. Turns out i had the parameter specified twice, with one being redundant. Things are now much better with regard the following error.

I'm still wondering if the latency histogram looks normal? i haven't seen anything else on here that looks like that.

Markyd wrote:

 haven't seen anything else on here that looks like that.

I think I have seen that castle in Lord of the Rings

Note that the plot is +/-20 and the peak latency is 76. It might look a bit less odd at +/-100. But the gaps are, indeed, curious.