How granular should I design my encoder feed to EKF3 to be? One pulse per 0.1" vehicle traveled? One pulse per 1"?
On my rover with wheelchair motors, I could put a standard 12 PPR magnetic encoder on the (3.5k rpm) shaft of the motor, producing about 40k pulses per second, x 2 motors = 80k interrupts per second. Will this be too many for my Pixhawk 4? The encoder accuracy into EKF3 would be very high, each pulse would correspond to about 0.1" traveled by the vehicle.
Alternately I could put the encoder on the shaft and build an optical encoder at 4 ppr, bringing the encoder frequency down to about 13k per side, 26k total, with one pulse per .3".
Alternatively I could put a 20ppr encoder on the output of the wheelchair motor, which turns much more slowly, about 140 rpm. This would produce 2.8k pulses per second per side, 5.6k Hz total, corresponding to about 1.4 inches per pulse.
And so on.
Can anyone recommend where I should start?