Distance travelled - Encoder?

I am building a 6 wheeled skid steer robot, has a CUAV X7 autopilot, with GPS etc with these motors

however I will need to know distance travelled when the GPS is under cover …

I had these motors just wired without the encoder function… but just thought perhaps I have one motor with the encoder wires wired like this:

Would that work ok to just wire one that way?


I have followed the indications there for a non-GPS indoors mission, and they work.

If you enable just one encoder, I suppose there will be a mess if you rely on encoders for some EK3_SRC1_x functions as mentioned there, but you can try. If you have one connected, you can connect the second and get all functions.