nothing is as satisfying as a scoop mint chocolate-chip on a hot day...except maybe finishing a board design from 2020! this ZED-F9P is an RTK 'real time kinematics' board https://blog.adafruit.com/2020/06/08/eye-on-npi-u-blox-c099-f9p-application-board-for-zed-f9p-gnss-rtk-module-eyeonnpi-adafruit-digikey-digikey-ublox/ that can do high precision location. kinda like a GPS/GNSS but with centimeter accuracy. they're not cheap but there's really nothing else that works as well. these are modules from uBlox and they're finally in good supply at DigiKey https://www.digikey.com/short/8v5rjw15 . our shield design is nice and spacious and would be a great fit for a Metro ESP32-S2 https://www.adafruit.com/product/4775 which has DC, USB and LiPoly input. we'll be sending out for prototype PCBs this week!
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