Do I need 'locators' section in config?

[SurreyMichael]

I adapted the sample config.yaml file that installed with companion but couldn't figure out the locators section (see below), which isn't mentioned in the guidance docs. Are these used/essential? Should I enable one but not both? Any advice would be much appreciated.

ESPCompanion is working in my setup but I'm still tinkering to see if I can improve accuracy and response.

`locators:
nadaraya_watson:
enabled: true
floors: ["first", "second", "outside"]
bandwidth: 0.5
kernel: gaussian

nealder_mead:
enabled: false
floors: ["first", "second", "outside"]
weighting:
algorithm: gaussian
props:
sigma: 0.10

nearest_node:
enabled: true
max_distance: 10`

[dxmnkd316]

I've been playing around with both. I have nadarayawatson enabled and find it's pretty good for performance. I leave the other two disabled for now.

But Gaussian was the best prior to NW for me with a moderate sigma of 0.333333. I'm still not entirely sure how the NW works. I did some reading on the mathematical method on Wikipedia IIRC but didnt have time to really dig into the nitty gritty. I suspect the bandwidth is sort of a fuzziness around the beacon distance to the node. So it's not trying to find a perfect location with multiple nodes that just can't actually be solved. But I could be entirely wrong on that.

Edit: here's the article I was reading:
https://en.m.wikipedia.org/wiki/Kernel_density_estimation

I was wrong. It's not fuzziness from a single datapoint. It seems like it's more about multiple points and the density of the signals. So it should give a better result than just Gaussian weighting.

Edit 2: an even better discussion of the general approach.
https://en.m.wikipedia.org/wiki/Multivariate_kernel_density_estimation

[SurreyMichael]

many thanks - really good to hear what you have tried as I couldn't find anything about this in connection to this add-on. I'll enjoy reading the links