I need to know how CubeOrange measures the Velocity of the UA

I would like to know how the Velocity Factors are measured? Is this based on the GNSS or the Here3 RTK? Does the IMU board provide me with any details to look into the measurement of velocity

Velocity is from GNSS 3D velocity. IMU is not implemented.

the answer is doppler

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Oh wow, didn’t know this was possible, thank you @Michael_Oborne!
Is this something done inside the GPS unit (and hence a protocol the GPS needs to support), or is this done inside the Cube from basic data you can get from any GPS?

this is all gps.