It seems to me that the problem was too much scheduling. If it really were just producer/consumer workflows one frame would have been lost, the program would b

It seems to me that the problem was too much scheduling. If it really were just producer/consumer workflows one frame would have been lost, the program would be comparing images two frames apart and seen it moving twice as fast as it was supposed to, this would have caused a minor excursion but then the next frame would be right and it would very quickly have settled back down to proper flight. The problem is that it wasn't simply comparing frames, but it had an internal clock the frames were being compared against.