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2. ArduPilot Firmware builds. https://firmware.ardupilot.org. Last accessed 21 Aug 2023
3. Copter attempts to fly home using dead reckoning if the GPS quality deteriorates or an EKF failsafe triggers. https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/applets/copter-deadreckon-home.lua. Last accessed 21 Aug 2023
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5. Dead Reckoning Failsafe. https://ardupilot.org/copter/docs/deadreckoning-failsafe.html. Last accessed 21 Aug 2023