The 1st drive without any camera mast was rock solid when not given steering inputs.  It didn't search or anything, just going straight.  So testing with the unstable payload is effective at predicting it without a payload.  

When given steering inputs, it was still erratic before settling again.  It was only useful on the rail trail, but any turns were quite difficult.  There's still changing the bandwidth of the FIR filter.  What would Lars Blackmore do in this situation?