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GPS with Encoders

Hello, I want to setup pixhawk with GPS navigation assisted with data from wheel encoders. In the tutorial Wheel Encoders at ardupilot.org it is suggested to enable EKF3 and then change EK3_GPS_TYPE to 3 (No GPS). If I don’t change the last parameter will the EKF3 be taking into consideration both GPS and encoders position?

Hi,
As described in this PR https://github.com/ArduPilot/ardupilot/pull/6656 it seems that wheel encoders AND GPS can be used together to improve position estimation:
“This PR allows non-GPS navigation using wheel encoders in place of (or in addition to) a GPS”

Haven’t tried it by myself, maybe someone else can confirm.

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