diff --git a/src/main.cpp b/src/main.cpp
index 961ed3a..dae6a46 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -40,6 +40,13 @@ uint32_t bytesUartToUdp = 0;
 uint32_t bytesUdpToUart = 0;
 unsigned long lastStatsTime = 0;
 
+// ── Buffer UART → UDP ────────────────────────────────────
+#define UART_BUF_SIZE   512
+#define UART_FLUSH_MS   3
+uint8_t uartBuf[UART_BUF_SIZE];
+int uartBufLen = 0;
+unsigned long uartLastByteTime = 0;
+
 // ── LED non bloquante ─────────────────────────────────────
 void updateLED() {
   unsigned long elapsed = millis() - ledStateStart;
@@ -135,21 +142,23 @@ void loop() {
 
   if (!wifiConnected) return;
 
-  // UART → UDP (H743 → Jetson)
-  if (MavSerial.available()) {
-    uint8_t buf[512];
-    int len = 0;
-    while (MavSerial.available() && len < (int)sizeof(buf)) {
-      buf[len++] = MavSerial.read();
-    }
-    if (len > 0) {
-      udp.beginPacket(TARGET_IP, UDP_PORT);
-      udp.write(buf, len);
-      udp.endPacket();
-      bytesUartToUdp += len;
-      setLedState(LED_ACTIVITY);
-      Serial.printf("[UART->UDP] %d bytes\n", len);
-    }
+  // UART → UDP (H743 → Jetson) — accumulation puis flush
+  while (MavSerial.available() && uartBufLen < UART_BUF_SIZE) {
+    uartBuf[uartBufLen++] = MavSerial.read();
+    uartLastByteTime = millis();
+  }
+
+  bool flushNow = uartBufLen > 0 &&
+    (uartBufLen >= UART_BUF_SIZE || millis() - uartLastByteTime >= UART_FLUSH_MS);
+
+  if (flushNow) {
+    udp.beginPacket(TARGET_IP, UDP_PORT);
+    udp.write(uartBuf, uartBufLen);
+    udp.endPacket();
+    bytesUartToUdp += uartBufLen;
+    setLedState(LED_ACTIVITY);
+    Serial.printf("[UART->UDP] %d bytes\n", uartBufLen);
+    uartBufLen = 0;
   }
 
   // UDP → UART (Jetson → H743)