I have a pair of ZED F9P boards from SparkFun that I would like to use for yaw. This is apparently supported by the latest versions of Ardupilot. I found the Ardupilot doc describing the setup and parameter settings, but the description of physical connections is fairly terse and, to me at least, ambiguously written.
What I think is intended is
unit1: UART1 to GPS (Serial3) on the Cube
unit2: UART1 to GPS2 (Serial4) on the Cube
But most discussions of moving base RTK I have seen also describe a separate physical connection (I2C or UART) directly between the two GPS units to pass correction data, but this isn’t mentioned on the aforementioned page. Is RMTC data passed between them through the Cube along the same serial connections? And has anyone here successfully used the ZED F9P with Ardupilot for yaw?