Rover with Encoders

Hi all,

I’ve been digging through some documentation and trying to assess how feasible it would be to set up a rover that takes quadrature encoders as inputs. I see that this is doable with ardupilot, but I’d prefer to stay within the PX4 ecosystem.

I’ve seen a few github issues that seem to be asking the same thing, but based on documentation I’ve gone over, I don’t see that this has actually been implemented. I’m relatively new to the PX4 hardware but have a lot of experience writing code forked from PX4. If this is something that’s considered TODO, I’d be happy to take a stab at it. Not sure if this would be from scratch or ported over from Ardupilot, but if someone could point me in the right direction, I’d be incredible thankful.