The period trace came back with no period - intervals scattered from 0 to
2.5s - so the twenty-step renormalisation is not the culprit and neither
is any other fixed cadence. That is a real answer, and it also exposed a
fault in the instrument that produced it.
The angular step varies six hundredfold across the samples, 0.12 mrad
with the pod at 119m against 77 mrad at 5.4m. Judging each frame against
a long running mean therefore reports the mean own lag as a lurch
whenever the pod is closing, which is exactly what the window matching
the reported symptom was doing: 26 lurches at 5.4m range, almost all of
them measurement artifact.
Compare each frame against the frame before it instead. Consecutive
frames of a smooth pass are nearly equal however fast the sweep, so the
ratio is immune to range, and a tick is specifically one frame that
barely moves followed by one that catches up - so time the stalls, not
the lurches.
Also read renderStepFraction directly, per drawn frame, which should have
been the first measurement taken. It is the number the interpolation
actually uses. Sweeping smoothly from 0 to 1 means interpolation is
working; pinned at 1 means the simulation is behind and every frame is
drawing the same latest step, which is stepping at the physics rate no
matter how clean the packets were. The camera station rasters the map and
the gauges as well as the world, so falling behind is entirely plausible
and would show here and nowhere else.
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
CydandClaude Opus 5
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