Fixed minor issues

Author: patrikpordi

docs/en/dronecan/ark_g5_rtk_gps.md

@@ -87,8 +87,6 @@ Once enabled, the module will be detected on boot.
 
 You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:
 
-- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
-- Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
 - The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK G5 RTK GPS from the vehicles centre of gravity.
 

docs/en/dronecan/ark_g5_rtk_heading_gps.md

@@ -66,16 +66,6 @@ The recommended mounting orientation is with the connectors on the board pointin
 
 The sensor can be mounted anywhere on the frame, but you will need to specify its position, relative to vehicle centre of gravity, during [PX4 configuration](#px4-configuration).
 
-#### SEP_OUT_RATE (enum)
-
-Configures the output rate for GNSS data messages.
-
-- -1: OnChange
-- 50: 50 ms
-- 100: 100 ms
-- 200: 200 ms
-- 500: 500 ms
-
 ## Firmware Setup
 
 The Septentrio G5 module firmware can be updated using the Septentrio [RxTools](https://www.septentrio.com/en/products/gps-gnss-receiver-software/rxtools) application.
@@ -126,6 +116,16 @@ Note that this can be interpreted as the "roll" angle in case the antennas are a
 - Max: 90
 - Unit: degree
 
+#### SEP_OUT_RATE (enum)
+
+Configures the output rate for GNSS data messages.
+
+- -1: OnChange
+- 50: 50 ms
+- 100: 100 ms
+- 200: 200 ms
+- 500: 500 ms
+
 ## LED Meanings
 
 - The GPS status lights are located to the right of the connectors

docs/en/gps_compass/rtk_gps.md

@@ -22,12 +22,12 @@ It also highlights devices that connect via the CAN bus, and those which support
 
 | Device                                                                                                    |                             GPS                             | Compass  | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuring-gps-as-yaw-heading-source) | PPK |
 | :-------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------: | :------: | :------------------------------: | :-----------------------------------------------: | :-: |
-| [ARK G5 RTK GPS](../dronecan/ark_g5_rtk_gps.md)                                                                 |                             [mosaic-G5 P3](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3)                             |  BMP390  |                ✓                 |                                |     |
-| [ARK G5 RTK HEADING GPS](../dronecan/ark_g5_rtk_heading_gps.md)                                                                 |                             [mosaic-G5 P3H](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3H)                             |  BMP390  |                ✓                 |                [Heading](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3H)               |
+| [ARK G5 RTK GPS](../dronecan/ark_g5_rtk_gps.md)                                                                 |                             [mosaic-G5 P3](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3)                             |  IIS2MDC  |                ✓                 |                                |     |
+| [ARK G5 RTK HEADING GPS](../dronecan/ark_g5_rtk_heading_gps.md)                                                                 |                             [mosaic-G5 P3H](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3H)                             |  IIS2MDC  |                ✓                 |                [Heading](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3H)               |
 | [ARK RTK GPS](../dronecan/ark_rtk_gps.md)                                                                 |                             F9P                             |  BMM150  |                ✓                 |                [Dual F9P][DualF9P]                |
 | [ARK RTK GPS L1 L5](../dronecan/ark_rtk_gps_l1_l2.md)                                                     |                             F9P                             |  BMM150  |                ✓                 |                              |
 | [ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md)                                               |                          Mosaic-X5                          | IIS2MDC  |                ✓                 |      [Septentrio Dual Antenna][SeptDualAnt]       |
-| [ARK X20 RTK GPS](../dronecan/ark_x20_rtk_gps.md)                                                         |                             X20P                            |  BMP390  |                ✓                 |                                |
+| [ARK X20 RTK GPS](../dronecan/ark_x20_rtk_gps.md)                                                         |                             X20P                            |  IIS2MDC  |                ✓                 |                                |
 | [CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md)                                                    |                           M8P/M8N                           |    ✓     |                                  |                                                   |
 | [CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md)                                                      |                             F9P                             |    ✓     |                                  |                [Dual F9P][DualF9P]                |
 | [CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md)                                            |                             F9P                             |  RM3100  |                                  |                [Dual F9P][DualF9P]                |