Model

FIREFLY+

Enhanced FIREFLY with RTK module and GPRS modem.
Position

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).

Attitude

Improved robustness & integrity.

100 Hz data update.

Heading in static conditions without magnetometer.

¿Improved pitch and roll wrt only low-cost IMU?.

W/O antennas
W/ antennas