AP_Scripting: add ahrs-source-gps-wheelencoders.lua #15932
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supports automatically switching between GPS and wheel encoders based on GPS speed accuracy and vertical velocity innovation
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tridge
approved these changes
Dec 1, 2020
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Merged, thanks! |
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This script allows automatically switching between GPS and wheel encoders based on GPS speed accuracy and vertical velocity innovations.
This has been successfully tested on a real vehicle driving in and out of my garage in both Acro mode and Auto. It very reliably switched between GPS and wheel encoders.
In the future I would like to incorporate checks of the wheel encoder innovations but this script already works well enough to be useful.