Distance travelled - Encoder?

ArduRover Rover 4.1
1

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

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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:
https://ardupilot.org/rover/docs/wheel-encoder.html

Would that work ok to just wire one that way?

cheers

2

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.