RTK position if RTK flag available (1 cm rms accuracy); with no need for RTK user provided local base station.
FIREFLY position in case RTK is not available (≈ 1.8 m rms accuracy).
Improved robustness & integrity.
Increased output data rate (10 Hz update, 100 Hz output).
Improved robustness & integrity.
100 Hz data update.
Heading in static conditions without magnetometer.
Improved pitch and roll wrt only low-cost IMU.
