My goal with my rover setup is to allow for short term dead reckoning in the event of loss of gps or a weak gps signal. The plan is the rover would automatically switch over to a dead reckoning system, until gps signal is strong enough to return to.
Because the existing navigation system works so well, I wanted to change it as little as possible. My plan is to inject estimated GPS information into the existing code. What I mean is, the dead reckoning system will give me a latitude and longitude, and I want to plug that into the existing navigation setup. The navigation system will be "fooled" into thinking it has normal GPS info.
My first hurdle comes with figuring out in the code where the best place to do this is. Where is the gps data updated? It looka like "current_loc" (an instance of the struct "Location" in firmware ArduRover v2.30 ) is what I need to alter. My problem is I can't find where this is set/updated.
Anybody have any insight into this?
Any alternative ideas to going about this?