Dual RTK GPS is handled differently in PX4 Cannode vs AP Periph (ardupilot’s dronecan firmware).
The fix involves pulling in the dronecan relposheading message. Changes to include this can either be in uavcan driver or in EKF2. What preferable to get these fixes in?
Alternatively we can pull in the uORB gnss relative sub here and make the change in ekf2: PX4-Autopilot/src/modules/ekf2/EKF2.cpp at a0e6f9cd70397dd741efdb5d72d94b9ac88e97ce · PX4/PX4-Autopilot · GitHub