I apologize for the delay in getting back to you.
Finally, I was able to solve the problem of the ROVER meandering!
I reinstalled the ROVER-4.1.0Beta firmware again on Pixhawk and reconfigured all the parameters from scratch.
It was at this time that I first noticed some changes in the MovingBase setup documentation.
Then I carefully checked the turn rate documentation and set the FF and other parameters.
The MovingBase system in Rover 4.1.0Beta reacted so accurately and speedily that Rover was always able to accurately estimate its direction!
I can’t thank the ArduPilot staff and community enough!!
Next, however, the robot’s GNSS status did not RTK-Fix anymore.
I used u-center to install the latest firmware on the ZED-F9P and reconfigured it.
Still, I could not solve this problem.
I have confirmed that using the same ZED-F9P and antenna on another robot that doesn’t use the MovingBase method with Rover 4.1.0Beta firmware installed results in RTK-Fix status.
Apparently, setting up MovingBase as per the documentation may not result in RTK-Fix status.
How can I enable RTK-GNSS and get RTK-Fix status with MovingBase-based robots?
Sorry for repeating myself.