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BUG: control.mellinger: fix xp.all() targeting all worlds instead of per-world - #98
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ratheron
approved these changes
Aug 18, 2026
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There was a bug in the controller where the
xp.allwas taken over all axes, not just the drone axis. I added tests that fail on main and get fixed with this PR.This also has implications for performance, since the
xp.allcall forces a sync across all worlds. Taking it over the drone axis re-enables independent per-world computation and improves performance.