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GPS reference in mission planner

Hello,

Now, when we go in auto, the Rover follow the plan going throw the waypoints. He knows that he is doing the correct way because he has a reference thanks the GPS.

In my case, I use 2 GPS to sett the reference or the rover (as u can see in the following link).

GPS for Yaw (aka Moving Baseline) — Copter documentation (ardupilot.org)

To have more precision going forward, I want to move the reference between the 2 wheels from the front.

The problem is that if move the reference, going backward will be more unprecise.

Maybe is possible to have the reference of the vehicle on one point going forward and other going backward?

Thanks for helping.

Servers by jDrones