I’m using two uBlox ZED F9P units in moving baseline mode to get yaw. In the documentation, I read that one of the tests for a valid GPS yaw is that the computed distance between antennas is different by less than 20% than the distance implied by the y-positions of the antennas. In my case, 20% of about 1.2m is 24 cm, which seems too generous (I have measured and input the actual separation to ~1 cm accuracy). Is there a way to reduce the tolerance to something closer to the actual RTK relative precision, which should be on the order of “a few” centimeters?
I’m asking because I believe the GPS yaw might have been off by 20 or so degrees on my last flight (it was dead-on when I tested it in the morning but seemed to be biased after rebooting), and I’m trying to rule out possible causes.