@@ -244,8 +244,8 @@ But if the Legocar meets any obstacles, then it just rotates 90 degrees and stan
In this assignment, we have experimented with the odometry provider and in extension, see how precise we can track the Legocar position.
The first part concerned the accuracy of the position when using the premade variables and if the non-systematic odometry error model, modelled the error correctly. the preliminary tests we conducted showed that it drifted towards the left and also rotated to much. We ended up with a reasonable result that made it possible to track the position of the car with high accuracy. We then used these variables to investigate the non-systematic odometry error model. By conducting mulitple test, we ended up changing the variables to the following:
private float distanceNoiseFactor = 0.3f;
private float angleNoiseFactor = 1;
private float distanceNoiseFactor = 0.3f;
private float angleNoiseFactor = 1;
Which made the pilotMonitor output the error with the accuracy that corresponded to our tests.
