Yaw modeler

Need to design algorithm for modeling expected yaw based on steering commands. So that way we could possible implement failsafes upon drifting, or other conditions. For example if there is a failure of a sensor it could reconfigure itself to navigate back to the garage, or possibly navigate using an alternative method. If we were able to design an adaptive algorithm, possibly investigate neural networks, or fuzzy logic controller for calculating the approximate yaw based on the steering commands. So if we could detect a large change, for example if the imu began to drift we could use our modeler algorithm to approximate our yaw to substitute the IMU till the end of the run, or until the imu stops drifting, and we can switch back to IMU for yaw.