Putting it all together, part 2

Today we started where we left off yesterday: Trying to let all the functions work together. After a lot of attempts and some strange problems with IR communcation between bricks with codes that where just working fine yesterday (a simple firmware update solved the problem eventually), we thought of a way of changing the starting and killing of threads. The code now seems to works without crashing and most of the problems are solved, but now it seems that at the point of switching between two different threads the motors sometimes behave a little bit strange. We need to figure this out in the next days.

After a while we had the opportunity to use the camera for a moment and try to test our code on the real Mars Surface. The first thing that attracted our attention was that the right 'building-lamp' above the Surface was shining much brighter than yesterday and the days before. We think that the bulb is changed.
The problem now is that the camera (together with the software) almost can't detect lakes anymore. While yesterday 2 lakes could be detected easily and 1 was hard to detect, today only 1 lake was detectable, and it was much harder than the other days. I also heard the group before us complain about the same thing: For some reason also they had trouble detecting lakes today.
I hope this will be changed, otherwise I think the real Mars Mission next week will be a disaster for most of the groups, due to the crappy lake detection by the 'blazing' light.
We also found out that the gradient values we use for the lake detection on the middle lightsensor now must be adapted. Due to the new lamp also this value has changed.

The only testrun we had is displayed below: We made a test on the lake that was just detectable. First it does not see the lake and starts the 'random drive' mode. After a while it recheives coordinates and start to turn and drive to the lake. As I said before, the gradient of the lake detection has changed, so now it thinks there is a lake just in front of the true lake. Probably due to the combination of the shadow of the rover and the new shining lamp. We had no chance to correct it today, but that will be done later.
After the lake is measured, the rover avoids the lake and the cliff and drives further away up to the possible next lake (which can not be found)