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Jacob Dahl
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NuttX queues every received CAN frame in one I/O buffer from the pool shared with the rest of the network stack. At 24 buffers the two FlexCAN interfaces together have 7 ms of headroom at 3260 frames/s, and the uavcan thread is preempted for longer than that: the socket layer dropped 445 frames per 300 s on the bench, which shows up as transfer errors and failed DroneCAN parameter reads. 192 buffers (40 KB of the 1.1 MB free) give 59 ms at that rate; IOB_NCHAINS follows by default. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>