Execution order of simulation loop for drone in Unity

[ykeuter]

InvokeTickInAirSim is called in LateUpdate:

AirSim/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs

Line 116 in d59ceb7

airsimInterface.InvokeTickInAirSim(Time.deltaTime);

while transform is updated in FixedUpdate:

AirSim/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Multirotor/Drone.cs

Line 41 in d59ceb7

transform.position = position;

Is there a reason for this? FixedUpdate and LateUpdate are not necessarily in sync.

Also, I would expect currentPose = poseFromAirLib; after transform is updated.

What am I missing?

[ykeuter]

I changed this execution order in PR #3128 .

Without these changes, on the first call to FixedUpdate the drones are positioned at the origin (since poseFromAirLib is not set yet), causing a collision. AirSim then processes this collision, but at the actual position of the drones, causing the drones to tumble down.

Something similar happens in single drone mode. In this case the "fake" collision (with the floor at the origin now) is interpreted as a landing by AirSim, making the drone "hover" mid-air at the start, even though it is only armed.

[stale]

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