Added information about physics determinism and vehicle telemetry

Docs/adv_synchrony_timestep.md

@@ -11,6 +11,7 @@ This section deals with two fundamental concepts in CARLA. Their configuration d
 	*   [Setting synchronous mode](#setting-synchronous-mode)
 	*   [Using synchronous mode](#using-synchronous-mode)
 *   [__Possible configurations__](#possible-configurations)
+* [__Physics determinism__](#physics-determinism)
 
 ---
 ## Simulation time-step
@@ -195,6 +196,17 @@ The configuration of time-step and synchrony, leads for different settings. Here
 !!! Warning 
     __In synchronous mode, always use a fixed time-step__. If the server has to wait for the user, and it is using a variable time-step, time-steps will be too big. Physics will not be reliable. This issue is better explained in the __time-step limitations__ section. 
 
+---
+
+## Physics determinism
+
+CARLA supports physics and collision determinism under specific circumstances:
+
+- __Synchronous mode and fixed delta seconds must be enabled:__ Determinism requires the client to be in perfect sync with the server to produce accurate and reproducible results.
+- __Synchronous mode must be enabled before loading or reloading the world:__ Differing timestamps can arise if the world is not in synchronous mode from the very beginning.
+- __The world must be reloaded for each new repetition:__ Reload the world each time you want to reproduce a simulation.
+- __Commands should be batched instead of issued one at a time:__ Although rare, in a busy simulation or overloaded server, single issued commands can become lost. If commands are batched in a [`apply_batch_sync`](python_api.md/#carla.Client.apply_batch_sync) command, the command is guaranteed to be executed or return a failure response.
+
 
 ---
 

Docs/tuto_G_control_vehicle_physics.md

@@ -1,4 +1,4 @@
-# How to control vehicle physics
+# Control and monitor vehicle physics
 
 Physics properties can be tuned for vehicles and their wheels.
 These changes are applied **only** on runtime, and values are set back to default when the execution ends.
@@ -8,8 +8,11 @@ These properties are controlled through a
 which also provides the control of each wheel's physics through a
 [carla.WheelPhysicsControl](python_api.md#carla.WheelPhysicsControl) object.
 
+- [__Vehicle control code example__](#vehicle-control-code-example)
+- [__Viewing vehicle telemetry__](#viewing-vehicle-telemetry)
+
 ---
-## Example
+## Vehicle control code example
 
 ```py
 import carla
@@ -58,3 +61,13 @@ def main():
 if __name__ == '__main__':
     main()
 ```
+
+---
+
+## Viewing vehicle telemetry
+
+Vehicle telemetry can be visualised by calling the [`Actor.enable_debug_telemetry`](python_api.md#carla.Actor.enable_debug_telemetry) method. This will provide graph views of several metrics on the server window as well as vehicle reference points on the simulation window.
+
+![vehicle_telemetry](img/vehicle_telemetry.png)
+
+You can try the telemetry visualisation tool in the example script `manual_control.py` located in `PythonAPI/examples`.