Odometry - 4ws quasiomnidirectional - covariance_matrix

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Hallo, I had my 4ws base-controller invert wheelspeed if steerangle was bigger then Pi/2 and adjust the steerangle of course. It should improve stability of the robot as well as be more efficient.

However my Odometry inverted reality when the robot was in a state where this function didnt execute for all four wheels. I asume it has to do with the covariance_matrix but Iam totally new to the covariance_matrix topic. Where can I find documentation etc. that might lead to a solution (the usual google search stuff I checked)? Or does anybody know if this might even work at all with a covariance matrix, and what would be the drawback to kicking out the covariance_matrix completly? Thanks.