old_contents: # -*- coding: utf-8 -*-
  """
  General options during execution
  """
  
  #Position Log filename. Use None to disable.
  position_log_filename = "math/pos_log.txt"
  #position_log_filename = None
  
  #Position Log with Noise filename. Use None to disable.
  position_log_noise_filename = "math/pos_log_noise.txt"
  #position_log_filename = None
  
  #Command and Update Log filename. Use None to disable.
  cmdupd_filename = "math/commands.txt"
  #cmdupd_filename = None
  
  #Gaussian noise addition variances
  noise_var_x = 3.
  noise_var_y = 3.
  noise_var_angle = 0.05
new_contents: # -*- coding: utf-8 -*-
  """
  General options during execution
  """
  
  #Position Log filename. Use None to disable.
  position_log_filename = "math/pos_log.txt"
  #position_log_filename = None
  
  #Command and Update Log filename. Use None to disable.
  cmdupd_filename = "math/commands.txt"
  #cmdupd_filename = None
  
  #Gaussian noise addition variances
  noise_var_x = 3.E-5
  noise_var_y = 3.E-5
  noise_var_angle = 1.
  
  # Process error estimate. The lower (higher negative exponent), more the filter
  # becomes like a Low-Pass Filter (higher confidence in the model prediction).
  Q = 1e-5
  
  # Measurement error variances (for the R matrix).
  # The higher (lower negative exponent), more the filter becomes like a
  # Low-Pass Filter (higher possible measurement error).
  R_var_x = 3.E-5
  R_var_y = 3.E-5
  R_var_angle = 3
  
subject: Add Q (generic) and R (3 values) to get more precise Kalman results