diff --git a/Cargo.lock b/Cargo.lock
index 8bc9ac0..79c4a7c 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -4,28 +4,37 @@ version = 4
 
 [[package]]
 name = "addr2line"
-version = "0.24.2"
+version = "0.25.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfbe277e56a376000877090da837660b4427aad530e3028d44e0bffe4f89a1c1"
+checksum = "1b5d307320b3181d6d7954e663bd7c774a838b8220fe0593c86d9fb09f498b4b"
 dependencies = [
  "gimli",
 ]
 
 [[package]]
 name = "adler2"
-version = "2.0.0"
+version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "512761e0bb2578dd7380c6baaa0f4ce03e84f95e960231d1dec8bf4d7d6e2627"
+checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa"
 
 [[package]]
 name = "aho-corasick"
-version = "1.1.3"
+version = "1.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e60d3430d3a69478ad0993f19238d2df97c507009a52b3c10addcd7f6bcb916"
+checksum = "ddd31a130427c27518df266943a5308ed92d4b226cc639f5a8f1002816174301"
 dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "alloca"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5a7d05ea6aea7e9e64d25b9156ba2fee3fdd659e34e41063cd2fc7cd020d7f4"
+dependencies = [
+ "cc",
+]
+
 [[package]]
 name = "anes"
 version = "0.1.6"
@@ -34,21 +43,21 @@ checksum = "4b46cbb362ab8752921c97e041f5e366ee6297bd428a31275b9fcf1e380f7299"
 
 [[package]]
 name = "anstyle"
-version = "1.0.8"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1bec1de6f59aedf83baf9ff929c98f2ad654b97c9510f4e70cf6f661d49fd5b1"
+checksum = "940b3a0ca603d1eade50a4846a2afffd5ef57a9feac2c0e2ec2e14f9ead76000"
 
 [[package]]
 name = "anyhow"
-version = "1.0.89"
+version = "1.0.103"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "86fdf8605db99b54d3cd748a44c6d04df638eb5dafb219b135d0149bd0db01f6"
+checksum = "2a4385e2e34eb35d6b3efe798b9eb88096925d87726c0798709bf56d9ed84af3"
 
 [[package]]
 name = "async-trait"
-version = "0.1.83"
+version = "0.1.89"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "721cae7de5c34fbb2acd27e21e6d2cf7b886dce0c27388d46c4e6c47ea4318dd"
+checksum = "9035ad2d096bed7955a320ee7e2230574d28fd3c3a0f186cbea1ff3c7eed5dbb"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -57,15 +66,15 @@ dependencies = [
 
 [[package]]
 name = "autocfg"
-version = "1.4.0"
+version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
+checksum = "f2032f911046de80f0a198e0901378627c33f59ea0ac00e363d481118bd70a53"
 
 [[package]]
 name = "backtrace"
-version = "0.3.74"
+version = "0.3.76"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8d82cb332cdfaed17ae235a638438ac4d4839913cc2af585c3c6746e8f8bee1a"
+checksum = "bb531853791a215d7c62a30daf0dde835f381ab5de4589cfe7c649d2cbe92bd6"
 dependencies = [
  "addr2line",
  "cfg-if",
@@ -73,7 +82,7 @@ dependencies = [
  "miniz_oxide",
  "object",
  "rustc-demangle",
- "windows-targets",
+ "windows-link",
 ]
 
 [[package]]
@@ -84,18 +93,18 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bitflags"
-version = "2.9.4"
+version = "2.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2261d10cca569e4643e526d8dc2e62e433cc8aba21ab764233731f8d369bf394"
+checksum = "b4388bee8683e3d04af747c73422af53102d2bd24d9eadb6cbc100baef4b43f8"
 dependencies = [
- "serde",
+ "serde_core",
 ]
 
 [[package]]
 name = "bumpalo"
-version = "3.16.0"
+version = "3.20.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "79296716171880943b8470b5f8d03aa55eb2e645a4874bdbb28adb49162e012c"
+checksum = "72f5acc6cb2ba439de613abc23857ec3d78374d8ed5ac84e9d11336e87da8649"
 
 [[package]]
 name = "byteorder"
@@ -105,9 +114,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
-version = "1.10.1"
+version = "1.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d71b6127be86fdcfddb610f7182ac57211d4b18a3e9c82eb2d17662f2227ad6a"
+checksum = "8ae3f5d315924270530207e2a68396c3cc547f6dca3fbdca317cfb1a51edb593"
 
 [[package]]
 name = "cast"
@@ -115,11 +124,21 @@ version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "37b2a672a2cb129a2e41c10b1224bb368f9f37a2b16b612598138befd7b37eb5"
 
+[[package]]
+name = "cc"
+version = "1.2.65"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e228eec9be7c17ccb640b59b36a5cd805ea2a564a4c5e162c2f659fea30d3b96"
+dependencies = [
+ "find-msvc-tools",
+ "shlex",
+]
+
 [[package]]
 name = "cfg-if"
-version = "1.0.0"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
+checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
 
 [[package]]
 name = "cfg_aliases"
@@ -156,18 +175,18 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.5.20"
+version = "4.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b97f376d85a664d5837dbae44bf546e6477a679ff6610010f17276f686d867e8"
+checksum = "1ddb117e43bbf7dacf0a4190fef4d345b9bad68dfc649cb349e7d17d28428e51"
 dependencies = [
  "clap_builder",
 ]
 
 [[package]]
 name = "clap_builder"
-version = "4.5.20"
+version = "4.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19bc80abd44e4bed93ca373a0704ccbd1b710dc5749406201bb018272808dc54"
+checksum = "714a53001bf66416adb0e2ef5ac857140e7dc3a0c48fb28b2f10762fc4b5069f"
 dependencies = [
  "anstyle",
  "clap_lex",
@@ -175,15 +194,15 @@ dependencies = [
 
 [[package]]
 name = "clap_lex"
-version = "0.7.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1462739cb27611015575c0c11df5df7601141071f07518d56fcc1be504cbec97"
+checksum = "c8d4a3bb8b1e0c1050499d1815f5ab16d04f0959b233085fb31653fbfc9d98f9"
 
 [[package]]
 name = "core-foundation"
-version = "0.10.0"
+version = "0.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b55271e5c8c478ad3f38ad24ef34923091e0548492a266d19b3c0b4d82574c63"
+checksum = "b2a6cd9ae233e7f62ba4e9353e81a88df7fc8a5987b8d445b4d90c879bd156f6"
 dependencies = [
  "core-foundation-sys",
  "libc",
@@ -197,32 +216,30 @@ checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
 
 [[package]]
 name = "crc-any"
-version = "2.5.0"
+version = "2.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a62ec9ff5f7965e4d7280bd5482acd20aadb50d632cf6c1d74493856b011fa73"
+checksum = "46db9f663dfb869b80fcf59e32d7a80fc6c464a4f6328f3f06a00f5e36d05f8c"
 
 [[package]]
 name = "criterion"
-version = "0.5.1"
+version = "0.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f2b12d017a929603d80db1831cd3a24082f8137ce19c69e6447f54f5fc8d692f"
+checksum = "950046b2aa2492f9a536f5f4f9a3de7b9e2476e575e05bd6c333371add4d98f3"
 dependencies = [
+ "alloca",
  "anes",
  "cast",
  "ciborium",
  "clap",
  "criterion-plot",
- "futures",
- "is-terminal",
  "itertools",
  "num-traits",
- "once_cell",
  "oorandom",
+ "page_size",
  "plotters",
  "rayon",
  "regex",
  "serde",
- "serde_derive",
  "serde_json",
  "tinytemplate",
  "tokio",
@@ -231,9 +248,9 @@ dependencies = [
 
 [[package]]
 name = "criterion-plot"
-version = "0.5.0"
+version = "0.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6b50826342786a51a89e2da3a28f1c32b06e387201bc2d19791f622c673706b1"
+checksum = "d8d80a2f4f5b554395e47b5d8305bc3d27813bacb73493eb1001e8f76dae29ea"
 dependencies = [
  "cast",
  "itertools",
@@ -241,9 +258,9 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-deque"
-version = "0.8.5"
+version = "0.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "613f8cc01fe9cf1a3eb3d7f488fd2fa8388403e97039e2f73692932e291a770d"
+checksum = "9dd111b7b7f7d55b72c0a6ae361660ee5853c9af73f70c3c2ef6858b950e2e51"
 dependencies = [
  "crossbeam-epoch",
  "crossbeam-utils",
@@ -260,15 +277,15 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-utils"
-version = "0.8.20"
+version = "0.8.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "22ec99545bb0ed0ea7bb9b8e1e9122ea386ff8a48c0922e43f36d45ab09e0e80"
+checksum = "d0a5c400df2834b80a4c3327b3aad3a4c4cd4de0629063962b03235697506a28"
 
 [[package]]
 name = "crunchy"
-version = "0.2.2"
+version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a81dae078cea95a014a339291cec439d2f232ebe854a9d672b796c6afafa9b7"
+checksum = "460fbee9c2c2f33933d720630a6a0bac33ba7053db5344fac858d4b8952d77d5"
 
 [[package]]
 name = "dev-utils"
@@ -278,17 +295,49 @@ dependencies = [
  "rand",
 ]
 
+[[package]]
+name = "dhat"
+version = "0.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "98cd11d84628e233de0ce467de10b8633f4ddaecafadefc86e13b84b8739b827"
+dependencies = [
+ "backtrace",
+ "lazy_static",
+ "mintex",
+ "parking_lot",
+ "rustc-hash",
+ "serde",
+ "serde_json",
+ "thousands",
+]
+
 [[package]]
 name = "either"
-version = "1.13.0"
+version = "1.16.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "91622ff5e7162018101f2fea40d6ebf4a78bbe5a49736a2020649edf9693679e"
+
+[[package]]
+name = "errno"
+version = "0.3.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "60b1af1c220855b6ceac025d3f6ecdd2b7c4894bfe9cd9bda4fbb4bc7c0d4cf0"
+checksum = "39cab71617ae0d63f51a36d69f866391735b51691dbda63cf6f96d042b63efeb"
+dependencies = [
+ "libc",
+ "windows-sys 0.61.2",
+]
+
+[[package]]
+name = "find-msvc-tools"
+version = "0.1.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5baebc0774151f905a1a2cc41989300b1e6fbb29aff0ceffa1064fdd3088d582"
 
 [[package]]
 name = "futures"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "65bc07b1a8bc7c85c5f2e110c476c7389b4554ba72af57d8445ea63a576b0876"
+checksum = "8b147ee9d1f6d097cef9ce628cd2ee62288d963e16fb287bd9286455b241382d"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -301,9 +350,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2dff15bf788c671c1934e366d07e30c1814a8ef514e1af724a602e8a2fbe1b10"
+checksum = "07bbe89c50d7a535e539b8c17bc0b49bdb77747034daa8087407d655f3f7cc1d"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -311,15 +360,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e"
+checksum = "7e3450815272ef58cec6d564423f6e755e25379b217b0bc688e295ba24df6b1d"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e28d1d997f585e54aebc3f97d39e72338912123a67330d723fdbb564d646c9f"
+checksum = "baf29c38818342a3b26b5b923639e7b1f4a61fc5e76102d4b1981c6dc7a7579d"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -328,15 +377,15 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e5c1b78ca4aae1ac06c48a526a655760685149f0d465d21f37abfe57ce075c6"
+checksum = "cecba35d7ad927e23624b22ad55235f2239cfa44fd10428eecbeba6d6a717718"
 
 [[package]]
 name = "futures-macro"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650"
+checksum = "e835b70203e41293343137df5c0664546da5745f82ec9b84d40be8336958447b"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -345,21 +394,21 @@ dependencies = [
 
 [[package]]
 name = "futures-sink"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e575fab7d1e0dcb8d0c7bcf9a63ee213816ab51902e6d244a95819acacf1d4f7"
+checksum = "c39754e157331b013978ec91992bde1ac089843443c49cbc7f46150b0fad0893"
 
 [[package]]
 name = "futures-task"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"
+checksum = "037711b3d59c33004d3856fbdc83b99d4ff37a24768fa1be9ce3538a1cde4393"
 
 [[package]]
 name = "futures-util"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
+checksum = "389ca41296e6190b48053de0321d02a77f32f8a5d2461dd38762c0593805c6d6"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -369,15 +418,14 @@ dependencies = [
  "futures-task",
  "memchr",
  "pin-project-lite",
- "pin-utils",
  "slab",
 ]
 
 [[package]]
 name = "getrandom"
-version = "0.2.15"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c4567c8db10ae91089c99af84c68c38da3ec2f087c3f82960bcdbf3656b6f4d7"
+checksum = "ff2abc00be7fca6ebc474524697ae276ad847ad0a6b3faa4bcb027e9a4614ad0"
 dependencies = [
  "cfg-if",
  "libc",
@@ -386,32 +434,21 @@ dependencies = [
 
 [[package]]
 name = "gimli"
-version = "0.31.1"
+version = "0.32.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "07e28edb80900c19c28f1072f2e8aeca7fa06b23cd4169cefe1af5aa3260783f"
+checksum = "e629b9b98ef3dd8afe6ca2bd0f89306cec16d43d907889945bc5d6687f2f13c7"
 
 [[package]]
 name = "half"
-version = "2.4.1"
+version = "2.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6dd08c532ae367adf81c312a4580bc67f1d0fe8bc9c460520283f4c0ff277888"
+checksum = "6ea2d84b969582b4b1864a92dc5d27cd2b77b622a8d79306834f1be5ba20d84b"
 dependencies = [
  "cfg-if",
  "crunchy",
+ "zerocopy",
 ]
 
-[[package]]
-name = "hermit-abi"
-version = "0.3.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d231dfb89cfffdbc30e7fc41579ed6066ad03abda9e567ccafae602b97ec5024"
-
-[[package]]
-name = "hermit-abi"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbf6a919d6cf397374f7dfeeea91d974c7c0a7221d0d0f4f20d859d329e53fcc"
-
 [[package]]
 name = "io-kit-sys"
 version = "0.4.1"
@@ -422,38 +459,29 @@ dependencies = [
  "mach2",
 ]
 
-[[package]]
-name = "is-terminal"
-version = "0.4.13"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "261f68e344040fbd0edea105bef17c66edf46f984ddb1115b775ce31be948f4b"
-dependencies = [
- "hermit-abi 0.4.0",
- "libc",
- "windows-sys",
-]
-
 [[package]]
 name = "itertools"
-version = "0.10.5"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0fd2260e829bddf4cb6ea802289de2f86d6a7a690192fbe91b3f46e0f2c8473"
+checksum = "413ee7dfc52ee1a4949ceeb7dbc8a33f2d6c088194d9f922fb8318faf1f01186"
 dependencies = [
  "either",
 ]
 
 [[package]]
 name = "itoa"
-version = "1.0.11"
+version = "1.0.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49f1f14873335454500d59611f1cf4a4b0f786f9ac11f4312a78e4cf2566695b"
+checksum = "8f42a60cbdf9a97f5d2305f08a87dc4e09308d1276d28c869c684d7777685682"
 
 [[package]]
 name = "js-sys"
-version = "0.3.72"
+version = "0.3.103"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6a88f1bda2bd75b0452a14784937d796722fdebfe50df998aeb3f0b7603019a9"
+checksum = "53b44bfcdb3f8d5837a46dae1ca9660a837176eee74a28b229bc626816589102"
 dependencies = [
+ "cfg-if",
+ "futures-util",
  "wasm-bindgen",
 ]
 
@@ -465,25 +493,24 @@ checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
 
 [[package]]
 name = "libc"
-version = "0.2.159"
+version = "0.2.186"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "561d97a539a36e26a9a5fad1ea11a3039a67714694aaa379433e580854bc3dc5"
+checksum = "68ab91017fe16c622486840e4c83c9a37afeff978bd239b5293d61ece587de66"
 
 [[package]]
 name = "lock_api"
-version = "0.4.12"
+version = "0.4.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
+checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
 dependencies = [
- "autocfg",
  "scopeguard",
 ]
 
 [[package]]
 name = "log"
-version = "0.4.22"
+version = "0.4.33"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a7a70ba024b9dc04c27ea2f0c0548feb474ec5c54bba33a7f72f873a39d07b24"
+checksum = "0ceec5bc11778974d1bcb055b18002eba7f4b3518b6a0081b3af5f21666da9ad"
 
 [[package]]
 name = "mach2"
@@ -496,11 +523,11 @@ dependencies = [
 
 [[package]]
 name = "mavlink"
-version = "0.16.1"
+version = "0.16.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1f7825f4c22c09decde0aa12b5df65137e09280b82c9ad685669b92a4da89fb8"
+checksum = "1cad9bd7a9d546da9d25e692ac0a276f0fb7df4b412ae06a07ec473ac90cb588"
 dependencies = [
- "bitflags 2.9.4",
+ "bitflags 2.13.0",
  "mavlink-bindgen",
  "mavlink-core",
  "num-derive",
@@ -511,9 +538,9 @@ dependencies = [
 
 [[package]]
 name = "mavlink-bindgen"
-version = "0.16.1"
+version = "0.16.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "06f9e500cdbdaf02b07da1625f2af65165bd14e58df22f2f0bfa3fd6db3a9917"
+checksum = "70320e411d3daf25576e94b919dc1787bfe7b0384076ddca2cf3b7ccb120da1e"
 dependencies = [
  "crc-any",
  "lazy_static",
@@ -532,6 +559,7 @@ dependencies = [
  "bytes",
  "criterion",
  "dev-utils",
+ "dhat",
  "futures",
  "log",
  "mavlink",
@@ -545,9 +573,9 @@ dependencies = [
 
 [[package]]
 name = "mavlink-core"
-version = "0.16.1"
+version = "0.16.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1825f94f84c7ea6ed9ecf7864815bcd4bfbb1af8c7f2a1e28840740af32bc8d"
+checksum = "cfff2f6e0215164e3f3c26168a028cdfd0b24eddf1744dc81f8b3dbdb28f45ab"
 dependencies = [
  "async-trait",
  "byteorder",
@@ -562,43 +590,48 @@ dependencies = [
 
 [[package]]
 name = "memchr"
-version = "2.7.4"
+version = "2.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
+checksum = "88904434abc2901f197fe8cc55f0445e7ded921dba5911dad2e2b39b48e663c4"
 
 [[package]]
 name = "miniz_oxide"
-version = "0.8.0"
+version = "0.8.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2d80299ef12ff69b16a84bb182e3b9df68b5a91574d3d4fa6e41b65deec4df1"
+checksum = "1fa76a2c86f704bdb222d66965fb3d63269ce38518b83cb0575fca855ebb6316"
 dependencies = [
  "adler2",
 ]
 
+[[package]]
+name = "mintex"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c505b3e17ed6b70a7ed2e67fbb2c560ee327353556120d6e72f5232b6880d536"
+
 [[package]]
 name = "mio"
-version = "1.0.2"
+version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "80e04d1dcff3aae0704555fe5fee3bcfaf3d1fdf8a7e521d5b9d2b42acb52cec"
+checksum = "02bd0af71c67b473010cbbc60715ee815645a4dc942899111f494b4b737d6fda"
 dependencies = [
- "hermit-abi 0.3.9",
  "libc",
  "log",
  "wasi",
- "windows-sys",
+ "windows-sys 0.61.2",
 ]
 
 [[package]]
 name = "mio-serial"
-version = "5.0.6"
+version = "5.0.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "029e1f407e261176a983a6599c084efd322d9301028055c87174beac71397ba3"
+checksum = "6d4ba3f20276f21b7cad3f1b54c97489cf096a3894fd627cc6951cb3abdd4c60"
 dependencies = [
  "log",
  "mio",
- "nix 0.29.0",
+ "nix 0.31.3",
  "serialport",
- "winapi",
+ "windows-sys 0.61.2",
 ]
 
 [[package]]
@@ -614,11 +647,11 @@ dependencies = [
 
 [[package]]
 name = "nix"
-version = "0.29.0"
+version = "0.31.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "71e2746dc3a24dd78b3cfcb7be93368c6de9963d30f43a6a73998a9cf4b17b46"
+checksum = "cf20d2fde8ff38632c426f1165ed7436270b44f199fc55284c38276f9db47c3d"
 dependencies = [
- "bitflags 2.9.4",
+ "bitflags 2.13.0",
  "cfg-if",
  "cfg_aliases",
  "libc",
@@ -646,30 +679,40 @@ dependencies = [
 
 [[package]]
 name = "object"
-version = "0.36.5"
+version = "0.37.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aedf0a2d09c573ed1d8d85b30c119153926a2b36dce0ab28322c09a117a4683e"
+checksum = "ff76201f031d8863c38aa7f905eca4f53abbfa15f609db4277d44cd8938f33fe"
 dependencies = [
  "memchr",
 ]
 
 [[package]]
 name = "once_cell"
-version = "1.20.2"
+version = "1.21.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1261fe7e33c73b354eab43b1273a57c8f967d0391e80353e51f764ac02cf6775"
+checksum = "9f7c3e4beb33f85d45ae3e3a1792185706c8e16d043238c593331cc7cd313b50"
 
 [[package]]
 name = "oorandom"
-version = "11.1.4"
+version = "11.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b410bbe7e14ab526a0e86877eb47c6996a2bd7746f027ba551028c925390e4e9"
+checksum = "d6790f58c7ff633d8771f42965289203411a5e5c68388703c06e14f24770b41e"
+
+[[package]]
+name = "page_size"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "30d5b2194ed13191c1999ae0704b7839fb18384fa22e49b57eeaa97d79ce40da"
+dependencies = [
+ "libc",
+ "winapi",
+]
 
 [[package]]
 name = "parking_lot"
-version = "0.12.3"
+version = "0.12.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1bf18183cf54e8d6059647fc3063646a1801cf30896933ec2311622cc4b9a27"
+checksum = "93857453250e3077bd71ff98b6a65ea6621a19bb0f559a85248955ac12c45a1a"
 dependencies = [
  "lock_api",
  "parking_lot_core",
@@ -677,28 +720,22 @@ dependencies = [
 
 [[package]]
 name = "parking_lot_core"
-version = "0.9.10"
+version = "0.9.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e401f977ab385c9e4e3ab30627d6f26d00e2c73eef317493c4ec6d468726cf8"
+checksum = "2621685985a2ebf1c516881c026032ac7deafcda1a2c9b7850dc81e3dfcb64c1"
 dependencies = [
  "cfg-if",
  "libc",
  "redox_syscall",
  "smallvec",
- "windows-targets",
+ "windows-link",
 ]
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.14"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
-
-[[package]]
-name = "pin-utils"
-version = "0.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
+checksum = "a89322df9ebe1c1578d689c92318e070967d1042b512afbe49518723f4e6d5cd"
 
 [[package]]
 name = "plotters"
@@ -730,45 +767,45 @@ dependencies = [
 
 [[package]]
 name = "ppv-lite86"
-version = "0.2.20"
+version = "0.2.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77957b295656769bb8ad2b6a6b09d897d94f05c41b069aede1fcdaa675eaea04"
+checksum = "85eae3c4ed2f50dcfe72643da4befc30deadb458a9b590d720cde2f2b1e97da9"
 dependencies = [
  "zerocopy",
 ]
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.94"
+version = "1.0.106"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a31971752e70b8b2686d7e46ec17fb38dad4051d94024c88df49b667caea9c84"
+checksum = "8fd00f0bb2e90d81d1044c2b32617f68fcb9fa3bb7640c23e9c748e53fb30934"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quick-xml"
-version = "0.38.3"
+version = "0.38.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "42a232e7487fc2ef313d96dde7948e7a3c05101870d8985e4fd8d26aedd27b89"
+checksum = "b66c2058c55a409d601666cffe35f04333cf1013010882cec174a7467cd4e21c"
 dependencies = [
  "memchr",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.37"
+version = "1.0.46"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b5b9d34b8991d19d98081b46eacdd8eb58c6f2b201139f7c5f643cc155a633af"
+checksum = "dfbc457d0c7a0759a614551b11a6409e5951f6c7537be1f1b7682b9ae9230368"
 dependencies = [
  "proc-macro2",
 ]
 
 [[package]]
 name = "rand"
-version = "0.8.5"
+version = "0.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "34af8d1a0e25924bc5b7c43c079c942339d8f0a8b57c39049bef581b46327404"
+checksum = "5ca0ecfa931c29007047d1bc58e623ab12e5590e8c7cc53200d5202b69266d8a"
 dependencies = [
  "libc",
  "rand_chacha",
@@ -796,9 +833,9 @@ dependencies = [
 
 [[package]]
 name = "rayon"
-version = "1.10.0"
+version = "1.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b418a60154510ca1a002a752ca9714984e21e4241e804d32555251faf8b78ffa"
+checksum = "fb39b166781f92d482534ef4b4b1b2568f42613b53e5b6c160e24cfbfa30926d"
 dependencies = [
  "either",
  "rayon-core",
@@ -806,9 +843,9 @@ dependencies = [
 
 [[package]]
 name = "rayon-core"
-version = "1.12.1"
+version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1465873a3dfdaa8ae7cb14b4383657caab0b3e8a0aa9ae8e04b044854c8dfce2"
+checksum = "22e18b0f0062d30d4230b2e85ff77fdfe4326feb054b9783a3460d8435c8ab91"
 dependencies = [
  "crossbeam-deque",
  "crossbeam-utils",
@@ -816,18 +853,18 @@ dependencies = [
 
 [[package]]
 name = "redox_syscall"
-version = "0.5.7"
+version = "0.5.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b6dfecf2c74bce2466cabf93f6664d6998a69eb21e39f4207930065b27b771f"
+checksum = "ed2bf2547551a7053d6fdfafda3f938979645c44812fbfcda098faae3f1a362d"
 dependencies = [
- "bitflags 2.9.4",
+ "bitflags 2.13.0",
 ]
 
 [[package]]
 name = "regex"
-version = "1.11.0"
+version = "1.12.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38200e5ee88914975b69f657f0801b6f6dccafd44fd9326302a4aaeecfacb1d8"
+checksum = "f1292b7759ae1cb9ec195452d1390a074f0cd8541ab7a5a8c31cd6db45d4a6ba"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -837,9 +874,9 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.4.8"
+version = "0.4.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "368758f23274712b504848e9d5a6f010445cc8b87a7cdb4d7cbee666c1288da3"
+checksum = "6e1dd4122fc1595e8162618945476892eefca7b88c52820e74af6262213cae8f"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -848,21 +885,27 @@ dependencies = [
 
 [[package]]
 name = "regex-syntax"
-version = "0.8.5"
+version = "0.8.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2b15c43186be67a4fd63bee50d0303afffcef381492ebe2c5d87f324e1b8815c"
+checksum = "d6f6ff9a378485b298a5286656da665ba74413d36db0979633275d2e708145d4"
 
 [[package]]
 name = "rustc-demangle"
-version = "0.1.24"
+version = "0.1.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "719b953e2095829ee67db738b3bfa9fa368c94900df327b3f07fe6e794d2fe1f"
+checksum = "b50b8869d9fc858ce7266cce0194bd74df58b9d0e3f6df3a9fc8eb470d95c09d"
 
 [[package]]
-name = "ryu"
-version = "1.0.18"
+name = "rustc-hash"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
+
+[[package]]
+name = "rustversion"
+version = "1.0.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f3cb5ba0dc43242ce17de99c180e96db90b235b8a9fdc9543c96d2209116bd9f"
+checksum = "b39cdef0fa800fc44525c84ccb54a029961a8215f9619753635a9c0d2538d46d"
 
 [[package]]
 name = "same-file"
@@ -881,10 +924,11 @@ checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
 
 [[package]]
 name = "serde"
-version = "1.0.210"
+version = "1.0.228"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c8e3592472072e6e22e0a54d5904d9febf8508f65fb8552499a1abc7d1078c3a"
+checksum = "9a8e94ea7f378bd32cbbd37198a4a91436180c5bb472411e48b5ec2e2124ae9e"
 dependencies = [
+ "serde_core",
  "serde_derive",
 ]
 
@@ -897,11 +941,20 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "serde_core"
+version = "1.0.228"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "41d385c7d4ca58e59fc732af25c3983b67ac852c1a25000afe1175de458b67ad"
+dependencies = [
+ "serde_derive",
+]
+
 [[package]]
 name = "serde_derive"
-version = "1.0.210"
+version = "1.0.228"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "243902eda00fad750862fc144cea25caca5e20d615af0a81bee94ca738f1df1f"
+checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -910,74 +963,78 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.128"
+version = "1.0.150"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6ff5456707a1de34e7e37f2a6fd3d3f808c318259cbd01ab6377795054b483d8"
+checksum = "e8014e44b4736ed0538adeecded0fce2a272f22dc9578a7eb6b2d9993c74cfb9"
 dependencies = [
  "itoa",
  "memchr",
- "ryu",
  "serde",
+ "serde_core",
+ "zmij",
 ]
 
 [[package]]
 name = "serialport"
-version = "4.8.1"
+version = "4.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "21f60a586160667241d7702c420fc223939fb3c0bb8d3fac84f78768e8970dee"
+checksum = "a4d91116f97173694f1642263b2ff837f80d933aa837e2314969f6728f661df3"
 dependencies = [
- "bitflags 2.9.4",
+ "bitflags 2.13.0",
  "cfg-if",
  "core-foundation",
  "core-foundation-sys",
  "io-kit-sys",
  "mach2",
  "nix 0.26.4",
- "quote",
  "scopeguard",
  "unescaper",
- "windows-sys",
+ "windows-sys 0.52.0",
 ]
 
+[[package]]
+name = "shlex"
+version = "2.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8fadd59c855ef2080decdef8ff161eb6661b86933c9d82e5ba29dc602a55aba"
+
 [[package]]
 name = "signal-hook-registry"
-version = "1.4.2"
+version = "1.4.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a9e9e0b4211b72e7b8b6e85c807d36c212bdb33ea8587f7569562a84df5465b1"
+checksum = "c4db69cba1110affc0e9f7bcd48bbf87b3f4fc7c61fc9155afd4c469eb3d6c1b"
 dependencies = [
+ "errno",
  "libc",
 ]
 
 [[package]]
 name = "slab"
-version = "0.4.9"
+version = "0.4.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67"
-dependencies = [
- "autocfg",
-]
+checksum = "0c790de23124f9ab44544d7ac05d60440adc586479ce501c1d6d7da3cd8c9cf5"
 
 [[package]]
 name = "smallvec"
-version = "1.13.2"
+version = "1.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
+checksum = "8ed6a63f02c8539c91a8685a86f4099661ba3da017932f6ebbea6de3f0fa7c90"
 
 [[package]]
 name = "socket2"
-version = "0.5.7"
+version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ce305eb0b4296696835b71df73eb912e0f1ffd2556a501fcede6e0c50349191c"
+checksum = "52d1cfed4120b4d927bf7c0f86d2087a4a7d6027c906d9f9d525a80573b9be51"
 dependencies = [
  "libc",
- "windows-sys",
+ "windows-sys 0.61.2",
 ]
 
 [[package]]
 name = "syn"
-version = "2.0.100"
+version = "2.0.118"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b09a44accad81e1ba1cd74a32461ba89dee89095ba17b32f5d03683b1b1fc2a0"
+checksum = "1b9ae57f904213ebb649ce6895b8a66c66f0203b9319718f69a5612a065b1422"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -986,24 +1043,30 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "2.0.12"
+version = "2.0.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "567b8a2dae586314f7be2a752ec7474332959c6460e02bde30d702a66d488708"
+checksum = "4288b5bcbc7920c07a1149a35cf9590a2aa808e0bc1eafaade0b80947865fbc4"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "2.0.12"
+version = "2.0.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f7cf42b4507d8ea322120659672cf1b9dbb93f8f2d4ecfd6e51350ff5b17a1d"
+checksum = "ebc4ee7f67670e9b64d05fa4253e753e016c6c95ff35b89b7941d6b856dec1d5"
 dependencies = [
  "proc-macro2",
  "quote",
  "syn",
 ]
 
+[[package]]
+name = "thousands"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3bf63baf9f5039dadc247375c29eb13706706cfde997d0330d05aa63a77d8820"
+
 [[package]]
 name = "tinytemplate"
 version = "1.2.1"
@@ -1016,11 +1079,10 @@ dependencies = [
 
 [[package]]
 name = "tokio"
-version = "1.40.0"
+version = "1.52.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2b070231665d27ad9ec9b8df639893f46727666c6767db40317fbe920a5d998"
+checksum = "8fc7f01b389ac15039e4dc9531aa973a135d7a4135281b12d7c1bc79fd57fffe"
 dependencies = [
- "backtrace",
  "bytes",
  "libc",
  "mio",
@@ -1029,14 +1091,14 @@ dependencies = [
  "signal-hook-registry",
  "socket2",
  "tokio-macros",
- "windows-sys",
+ "windows-sys 0.61.2",
 ]
 
 [[package]]
 name = "tokio-macros"
-version = "2.4.0"
+version = "2.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "693d596312e88961bc67d7f1f97af8a70227d9f90c31bba5806eec004978d752"
+checksum = "385a6cb71ab9ab790c5fe8d67f1645e6c450a7ce006a33de03daa956cf70a496"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1045,12 +1107,13 @@ dependencies = [
 
 [[package]]
 name = "tokio-serial"
-version = "5.4.5"
+version = "5.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa1d5427f11ba7c5e6384521cfd76f2d64572ff29f3f4f7aa0f496282923fdc8"
+checksum = "dd00f5f8b1e01c3e5afccd9e42ed80c2ad2df6d007877f29f8592c62e69cd116"
 dependencies = [
  "cfg-if",
- "futures",
+ "futures-core",
+ "futures-sink",
  "log",
  "mio-serial",
  "serialport",
@@ -1059,9 +1122,9 @@ dependencies = [
 
 [[package]]
 name = "tokio-stream"
-version = "0.1.16"
+version = "0.1.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4f4e6ce100d0eb49a2734f8c0812bcd324cf357d21810932c5df6b96ef2b86f1"
+checksum = "32da49809aab5c3bc678af03902d4ccddea2a87d028d86392a4b1560c6906c70"
 dependencies = [
  "futures-core",
  "pin-project-lite",
@@ -1070,9 +1133,9 @@ dependencies = [
 
 [[package]]
 name = "tokio-util"
-version = "0.7.12"
+version = "0.7.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61e7c3654c13bcd040d4a03abee2c75b1d14a37b423cf5a813ceae1cc903ec6a"
+checksum = "9ae9cec805b01e8fc3fd2fe289f89149a9b66dd16786abd8b19cfa7b48cb0098"
 dependencies = [
  "bytes",
  "futures-core",
@@ -1083,9 +1146,9 @@ dependencies = [
 
 [[package]]
 name = "tracing"
-version = "0.1.40"
+version = "0.1.44"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c3523ab5a71916ccf420eebdf5521fcef02141234bbc0b8a49f2fdc4544364ef"
+checksum = "63e71662fa4b2a2c3a26f570f037eb95bb1f85397f3cd8076caed2f026a6d100"
 dependencies = [
  "pin-project-lite",
  "tracing-attributes",
@@ -1094,9 +1157,9 @@ dependencies = [
 
 [[package]]
 name = "tracing-attributes"
-version = "0.1.27"
+version = "0.1.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
+checksum = "7490cfa5ec963746568740651ac6781f701c9c5ea257c58e057f3ba8cf69e8da"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1105,27 +1168,27 @@ dependencies = [
 
 [[package]]
 name = "tracing-core"
-version = "0.1.32"
+version = "0.1.36"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54"
+checksum = "db97caf9d906fbde555dd62fa95ddba9eecfd14cb388e4f491a66d74cd5fb79a"
 dependencies = [
  "once_cell",
 ]
 
 [[package]]
 name = "unescaper"
-version = "0.1.6"
+version = "0.1.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c01d12e3a56a4432a8b436f293c25f4808bdf9e9f9f98f9260bba1f1bc5a1f26"
+checksum = "4064ed685c487dbc25bd3f0e9548f2e34bab9d18cefc700f9ec2dba74ba1138e"
 dependencies = [
  "thiserror",
 ]
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.13"
+version = "1.0.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e91b56cd4cadaeb79bbf1a5645f6b4f8dc5bde8834ad5894a8db35fda9efa1fe"
+checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
 
 [[package]]
 name = "walkdir"
@@ -1139,41 +1202,28 @@ dependencies = [
 
 [[package]]
 name = "wasi"
-version = "0.11.0+wasi-snapshot-preview1"
+version = "0.11.1+wasi-snapshot-preview1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
+checksum = "ccf3ec651a847eb01de73ccad15eb7d99f80485de043efb2f370cd654f4ea44b"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.95"
+version = "0.2.126"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "128d1e363af62632b8eb57219c8fd7877144af57558fb2ef0368d0087bddeb2e"
+checksum = "4b067c0c11094aef6b7a801c1e34a26affafdf3d051dba08456b868789aaf9a4"
 dependencies = [
  "cfg-if",
  "once_cell",
+ "rustversion",
  "wasm-bindgen-macro",
-]
-
-[[package]]
-name = "wasm-bindgen-backend"
-version = "0.2.95"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cb6dd4d3ca0ddffd1dd1c9c04f94b868c37ff5fac97c30b97cff2d74fce3a358"
-dependencies = [
- "bumpalo",
- "log",
- "once_cell",
- "proc-macro2",
- "quote",
- "syn",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.95"
+version = "0.2.126"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e79384be7f8f5a9dd5d7167216f022090cf1f9ec128e6e6a482a2cb5c5422c56"
+checksum = "167ce5e579f6bcf889c4f7175a8a5a585de84e8ff93976ce393efa5f2837aab1"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -1181,28 +1231,31 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.95"
+version = "0.2.126"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26c6ab57572f7a24a4985830b120de1594465e5d500f24afe89e16b4e833ef68"
+checksum = "f3997c7839262f4ef12cf90b818d6340c18e80f263f1a94bf157d0ec4420380e"
 dependencies = [
+ "bumpalo",
  "proc-macro2",
  "quote",
  "syn",
- "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.95"
+version = "0.2.126"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "65fc09f10666a9f147042251e0dda9c18f166ff7de300607007e96bdebc1068d"
+checksum = "dc1b4cb0cc549fcf58d7dfc081778139b3d283a081644e833e84682ad71cea24"
+dependencies = [
+ "unicode-ident",
+]
 
 [[package]]
 name = "web-sys"
-version = "0.3.72"
+version = "0.3.103"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f6488b90108c040df0fe62fa815cbdee25124641df01814dd7282749234c6112"
+checksum = "8622dcb61c0bcc9fffa6938bed81210af2da9a7e4a1a834b2e37a59b6dfb6141"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
@@ -1226,11 +1279,11 @@ checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
 
 [[package]]
 name = "winapi-util"
-version = "0.1.9"
+version = "0.1.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cf221c93e13a30d793f7645a0e7762c55d169dbb0a49671918a2319d289b10bb"
+checksum = "c2a7b1c03c876122aa43f3020e6c3c3ee5c05081c9a00739faf7503aeba10d22"
 dependencies = [
- "windows-sys",
+ "windows-sys 0.61.2",
 ]
 
 [[package]]
@@ -1239,6 +1292,12 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
 
+[[package]]
+name = "windows-link"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
+
 [[package]]
 name = "windows-sys"
 version = "0.52.0"
@@ -1248,6 +1307,15 @@ dependencies = [
  "windows-targets",
 ]
 
+[[package]]
+name = "windows-sys"
+version = "0.61.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
+dependencies = [
+ "windows-link",
+]
+
 [[package]]
 name = "windows-targets"
 version = "0.52.6"
@@ -1314,21 +1382,26 @@ checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
 
 [[package]]
 name = "zerocopy"
-version = "0.7.35"
+version = "0.8.52"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
+checksum = "ce1022995ff5ff5d841ad7d994facc23098cd40152f2c1d11cd607c6f530653f"
 dependencies = [
- "byteorder",
  "zerocopy-derive",
 ]
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.7.35"
+version = "0.8.52"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
+checksum = "1ae7f38b72ec2a254e2b87ef277cf2cd4fb97cbebf944faa6f33354da0867930"
 dependencies = [
  "proc-macro2",
  "quote",
  "syn",
 ]
+
+[[package]]
+name = "zmij"
+version = "1.0.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b8848ee67ecc8aedbaf3e4122217aff892639231befc6a1b58d29fff4c2cabaa"
diff --git a/Cargo.toml b/Cargo.toml
index 1844f3b..603d1bb 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -17,7 +17,7 @@ bench = false
 # opt-level = 3
 
 [dependencies]
-bytes = "1.10"
+bytes = "1.11"
 log = "0.4"
 mavlink = { version = "0.16.1", default-features = false, features = ["std", "ardupilotmega"] }
 thiserror = "2.0"
@@ -29,8 +29,9 @@ std = []
 
 [dev-dependencies]
 anyhow = "1.0"
-criterion = { version =  "0.5", features = ["async_tokio"] }
+criterion = { version =  "0.8", features = ["async_tokio"] }
 dev-utils = { path = "dev_utils" }
+dhat = "0.3"
 futures = "0.3"
 mavlink = { version = "0.16.1", default-features = false, features = ["std", "ardupilotmega", "tokio-1"] }
 rand = "0.8"
diff --git a/benches/bench.rs b/benches/bench.rs
index 67faf16..dcd7fdf 100644
--- a/benches/bench.rs
+++ b/benches/bench.rs
@@ -1,6 +1,8 @@
+use std::hint::black_box;
+
 use criterion::{
-    black_box, criterion_group, criterion_main, AxisScale, BenchmarkId, Criterion,
-    PlotConfiguration, Throughput,
+    criterion_group, criterion_main, AxisScale, BenchmarkId, Criterion, PlotConfiguration,
+    Throughput,
 };
 use mavlink::Message;
 use mavlink_codec::{codec::MavlinkCodec, v2::V2Packet};
@@ -60,18 +62,26 @@ fn benchmark_decode(c: &mut Criterion) {
             |b, &messages_count| {
                 let buf = buf.clone();
 
-                b.to_async(&rt).iter(|| async {
-                    let mut reader = mavlink::peek_reader::PeekReader::new(&buf[..]);
-
-                    for _ in 0..messages_count {
-                        let _msg = black_box(
-                            mavlink::read_v2_raw_message::<mavlink::ardupilotmega::MavMessage, _>(
-                                &mut reader,
-                            )
-                            .unwrap(),
-                        );
-                    }
-                })
+                b.to_async(&rt).iter_batched(
+                    || {
+                        let reader = mavlink::peek_reader::PeekReader::new(&buf[..]);
+
+                        reader
+                    },
+                    |mut reader| async move {
+                        for _ in 0..messages_count {
+                            let _msg =
+                                black_box(
+                                    mavlink::read_v2_raw_message::<
+                                        mavlink::ardupilotmega::MavMessage,
+                                        _,
+                                    >(&mut reader)
+                                    .unwrap(),
+                                );
+                        }
+                    },
+                    criterion::BatchSize::SmallInput,
+                )
             },
         );
 
@@ -81,20 +91,26 @@ fn benchmark_decode(c: &mut Criterion) {
             |b, &messages_count| {
                 let buf = buf.clone();
 
-                b.to_async(&rt).iter(|| async {
-                    let mut reader = mavlink::async_peek_reader::AsyncPeekReader::new(&buf[..]);
-
-                    for _ in 0..messages_count {
-                        let _msg = black_box(
-                            mavlink::read_v2_raw_message_async::<
-                                mavlink::ardupilotmega::MavMessage,
-                                _,
-                            >(&mut reader)
-                            .await
-                            .unwrap(),
-                        );
-                    }
-                })
+                b.to_async(&rt).iter_batched(
+                    || {
+                        let reader = mavlink::async_peek_reader::AsyncPeekReader::new(&buf[..]);
+
+                        reader
+                    },
+                    |mut reader| async move {
+                        for _ in 0..messages_count {
+                            let _msg = black_box(
+                                mavlink::read_v2_raw_message_async::<
+                                    mavlink::ardupilotmega::MavMessage,
+                                    _,
+                                >(&mut reader)
+                                .await
+                                .unwrap(),
+                            );
+                        }
+                    },
+                    criterion::BatchSize::SmallInput,
+                )
             },
         );
 
@@ -104,15 +120,21 @@ fn benchmark_decode(c: &mut Criterion) {
             |b, &messages_count| {
                 let buf = buf.clone(); // Reset buffer each time
 
-                b.to_async(&rt).iter(|| async {
-                    let mut buf = bytes::BytesMut::from(buf.as_slice());
-                    let mut codec =
-                        MavlinkCodec::<true, true, false, false, false, false>::default();
-
-                    for _ in 0..messages_count {
-                        let _msg = black_box(codec.decode(&mut buf).unwrap().unwrap());
-                    }
-                })
+                b.to_async(&rt).iter_batched(
+                    || {
+                        let buf = bytes::BytesMut::from(buf.as_slice());
+                        let codec =
+                            MavlinkCodec::<true, true, false, false, false, false>::default();
+
+                        (buf, codec)
+                    },
+                    |(mut buf, mut codec)| async move {
+                        for _ in 0..messages_count {
+                            let _msg = black_box(codec.decode(&mut buf).unwrap().unwrap());
+                        }
+                    },
+                    criterion::BatchSize::SmallInput,
+                )
             },
         );
 
@@ -120,16 +142,21 @@ fn benchmark_decode(c: &mut Criterion) {
             BenchmarkId::new("decoder-framed.next", messages_count),
             messages_count,
             |b, &messages_count| {
-                let buf = buf.clone();
-
-                b.to_async(&rt).iter(|| async {
-                    let codec = MavlinkCodec::<true, true, false, false, false, false>::default();
-                    let mut framed = FramedRead::new(buf.as_slice(), codec);
-
-                    for _ in 0..messages_count {
-                        let _msg = black_box(framed.next().await.unwrap().unwrap());
-                    }
-                })
+                b.to_async(&rt).iter_batched(
+                    || {
+                        let codec =
+                            MavlinkCodec::<true, true, false, false, false, false>::default();
+                        let framed = FramedRead::new(buf.as_slice(), codec);
+
+                        framed
+                    },
+                    |mut framed| async move {
+                        for _ in 0..messages_count {
+                            let _msg = black_box(framed.next().await.unwrap().unwrap());
+                        }
+                    },
+                    criterion::BatchSize::SmallInput,
+                );
             },
         );
     }
diff --git a/benches/compatibility_bench.rs b/benches/compatibility_bench.rs
index 34caf77..55277a4 100644
--- a/benches/compatibility_bench.rs
+++ b/benches/compatibility_bench.rs
@@ -1,6 +1,8 @@
+use std::hint::black_box;
+
 use criterion::{
-    black_box, criterion_group, criterion_main, AxisScale, BenchmarkId, Criterion,
-    PlotConfiguration, Throughput,
+    criterion_group, criterion_main, AxisScale, BenchmarkId, Criterion, PlotConfiguration,
+    Throughput,
 };
 use dev_utils::{create_random_v1_raw_message, create_random_v2_raw_message};
 use mavlink_codec::{v1::V1Packet, v2::V2Packet};