We are trying to use the built-in eQEP module of the BeagleBone Blue instead of the software based counter in the default Ardupilot code. We are able to read the “current” count at any moment of time, we don’t need the interrupts at every toggle of the pins, etc. But, the software seems to be using the time in between every successive toggles inside the EKF, which keeps rejecting it after a bit, because the reading happens a little too late.
Any recommendations on how to bypass that in the presence of a hardware eQEP module. Any Ardurover platform already using hardware quadrature encoder counter?