# GPS Heading/Yaw (aka Moving Baseline)

### PX4 Guide for RTK

{% hint style="info" %}
**PX4 Firmware**\
GPS Heading with Dual u-blox F9P is supported in the both DroneCAN and UART version. The DroneCAN version requires a different firmware and can be found in the guide below.
{% endhint %}

{% embed url="<https://docs.px4.io/main/en/gps_compass/u-blox_f9p_heading.html>" %}

{% embed url="<https://docs.px4.io/main/en/advanced_features/rtk-gps.html>" %}

{% embed url="<https://docs.px4.io/main/en/dronecan/holybro_h_rtk_zed_f9p_gps.html>" %}

### Ardupilot Wiki for RTK

{% hint style="info" %}
**Ardupilot** \
GPS Heading with Dual u-blox F9P is supported in both the UART and DroneCAN version.
{% endhint %}

{% embed url="<https://ardupilot.org/copter/docs/common-gps-for-yaw.html>" %}

{% embed url="<https://ardupilot.org/copter/docs/common-positioning-landing-page.html#rtk-gps>" %}