RTK position if available (1 cm rms accuracy); with no need for RTK user provided local base station.
PLANTHOPPER position in case RTK is not available (2.5 m rms accuracy).
Improved robustness & integrity.
Increased output data rate (10 Hz update, 100 Hz output).
100 Hz data update.
No heading output in static conditions without magnetometer.
Pitch and roll.
