Does the latest version of Here Pro GPS support Dual GPS for yaw?

Does the “latest version” Here Pro GPS support Dual GPS for yaw?

The following are the parameters I set
CAN_D1_PROTOCOL = 1
CAN_D2_PROTOCOL = 1
CAN_P1_DRIVER = 1
CAN_P2_DRIVER = 1
GPS_TYPE=9
NTF_LED_TYPES = 231
GPS_TYPE = 22 (“DroneCAN moving baseline base”)
GPS_TYPE2 = 23 (“DroneCAN moving baseline rover”)
GPS_AUTO_CONFIG = 2 (AutoConfig DroneCAN)
GPS_AUTO_SWITCH = 1
GPS_POS1_Y = 0.22 GPS_POS2_Y = -0.13
AHRS_EKF_TYPE = 3 (to use EKF3)
EK2_ENABLE = 0 (to disable EKF2)
EK3_ENABLE = 1 (to enable EKF3)
EK3_MAG_CAL = 3
EK3_SRC1_YAW = 2

I’m not sure if I’m missing any parameters or setting them up wrong

The response I got was that it only needs to be set according to the official website, but I did not get the expected results when I implemented it.

Has anyone successfully implemented a Dual GPS for yaw application using the “latest version” of Here Pro?

Or did I do any steps wrong?

The HerePro GPS is expensive, but its performance doesn’t seem to match its price?

@益德_廖 can you save parameters from mission planner for Cube and GPS and share it with me? Also can you share the firmware version running on HerePro, you can check them from DroneCAN/UAVCAN tabe under Setup > Optional Hardware. Also save the parameters from HerePros and share as well.