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Figure distgamma.png shows the measured distance from the path and the difference between the car and the path direction (gamma). The controller keeps the error of the distance from the path below 10cm and gamma below 10 degrees. This does not happen only when leaps occur because of the change of the tracking camera. The (signed) average error during a curve is -3.57mm for the distance and -0.07 degrees for gamma which is very good for the predictor. The average squared error is 49.64mm for the distance and 5.83 degrees for gamma.
Figure distold.png shows the error of the distance with the old controller instead. In curve the average error was about 180mm. It should be noted that this is the distance measured with the cameras which is affected by an error.
DOCUMENTATION EXPANSION
These are likely to be expanded and moved on the main wiki page at some point.
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