Rover detect traction malfunction

I would like to implement a monitor that detects if my skid steer rover has some sort of mechanical traction malfunction. If one traction wheel fails, or if they both fail, or if a wheel gets stuck in a hole, then the actual heading will differ from the desired heading (because the rover could turn in circles) and the forward speed might be much less than the desired speed. @rmackay9 can you think of a way of monitoring for this situation either on the companion computer (monitoring MAVProxy messages) or via a LUA script? Thanks in advance for any ideas you might have.

Lua script. Monitor speed. When it slows below desired for too long, disarm (or failsafe some other way).

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Yes a Lua script is probably the best short-term option.

I’ve been planning for some time to improve Rover’s crash failsafe so that it detects loss of steering control. I’d write this in C++ though probably so it works on all autopilots.

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