Today, the ZigZag mode, using the path executer is tested. Now, the rover is able to drive at the Mars Landscape without falling off the edge. (The movie is played at 4x speed)
To detect all the edges, the mean light value of the last 50 measured lightvalues are averaged and compared to the current light value. When the deviation between the average light value and the current lightvalue is too large, an edge is detected.
