i am developing a machine learning model to run a drone using raspberry pi connected to servers and then it is connected to the Ardupilot, but could not figure out how the velocity of NED is being calculated.

generally its calculated or provided using GPS. but i was understanding the code and it seems like


has a function called get_delta_velocity which later used in get_velocity_NED function so how the velocity is being calculated ? Accelerometer or GPS ?? 

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