Due to our extended calibration file we were able to move quite well on the lightsensors. However, during testing on mars, especially at lower light intensities, moving on the lightsensors seemed to be not robust enough. Updating the tresholds during driving was necassary.
New method:
During calibration ten measurements are performed (per sensor) and stored in an array. A new measurement is now compared to the average of this array. If the new measurement doesn't differ much the robot concludes that it is probable on mars and the new measurement is stored in the array. In this way the array is completely renewed every ten measurements, allowing the surface to vary.
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