RTK GPS PX4 in float

We recently upgraded our X500 with a Holybro RTK F9P GPS. We are using a Holybro Pixhawk 4 running V12.3.

While testing I didn’t really notice any improvements in the positional accuracy, so I had a closer look.

I noticed that in the logs the GPS data is displayed as a 32bit/single precision float. Meanwhile the global position (which fuses the IMU data to my understanding) is displayed as a 64bit/double precision.

This confuses me a bit. Does the GPS data in PX4 really operate on single precision? This would result in a resolution of about 30cm (depending on the float) and pretty much render RTK useless. Yet I see many people using RTK on PX4 so what am I missing?

Would love to hear from you if you also ran into this problem. Thank you :slight_smile: