Merge remote-tracking branch 'origin/master'

# Conflicts:
#	yaml/csm.yaml

yaml/csm.yaml

@@ -43,5 +43,4 @@ sigma:                        0.2   # Noise of the scan
 # COVARIANCE
 do_compute_covariance:        true
 cov_factor:                   5     # Factor multiplying the cov output of csm
-cov_max_eigv_factor:          3
-
+cov_max_eigv_factor:          5     # Factor multiplying the direction of the max eigenvalue of the cov output of csm