the output from our dual antenna rtk system is as follows
the $GPGGA is a normal NMEA message that contains the usual lat long (in DD.MM.SS format)
the $POLYA message contains Time, N,E,D, separation, heading,Checksum
the $GPGGX message is a hybrid message that contains both lat long (DD.MM) and heading info
as we use the tiny gps library that likes lat and long in DD.MM.SS we extract the data from the GGA and POLYA data streams
can you implement this rtk position and heading in AOG as it would help reduce the reliance on the magnetometer heading. The dual gps uses 2 arduisimple boards and outputs the data streams at 10hz.
We have not detected a delay so far and the results seem good