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hatfield-c / avl

Repository for the [AVL] Autonomous Vehicle Lab project at UT Dallas
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[AVL-66] Hotfix 0.0.5.4 Control jittering #66

Closed hatfield-c closed 1 year ago

hatfield-c commented 1 year ago

There is a bug that results in control jittering. This is caused by the physics updating for the Ego vehicle being done inside of FixedUpdate, which does not have a guaranteed ordering in relation to the execution of tasks. Thus a task could execute and command an actuator, however the update wouldn't happen until the next frame after the sensors were activated.

hatfield-c commented 1 year ago

This issue is now complete and will thus be closed.