GPS Heading/Yaw (aka Moving Baseline)
PX4 Guide for RTK
PX4 Firmware GPS Heading with Dual u-blox F9P is supported in the UART version, but not the DroneCAN version at the moment.
Ardupilot Wiki for RTK
Ardupilot GPS Heading with Dual u-blox F9P is supported in both the UART and DroneCAN version.
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