diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
index 5a889940e8c7c..54d9928d96ebc 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
@@ -130,6 +130,7 @@ define AP_PARAM_MAX_EMBEDDED_PARAM 256
 # disable dual GPS and GPS blending to save flash space
 define GPS_MAX_RECEIVERS 1
 define GPS_MAX_INSTANCES 1
+define GPS_MOVING_BASELINE 1
 define HAL_COMPASS_MAX_SENSORS 1
 
 # GPS+MAG+BARO+Buzzer+NeoPixels
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat
index bfe5edf0a421c..67e512fa4630a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat
@@ -14,3 +14,6 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_PERIPH_ENABLE_GPS
 define HAL_PERIPH_ENABLE_MAG
 define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY
+
+# allow for F9P GPS modules with moving baseline
+define GPS_MOVING_BASELINE 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat
index 507a90719f1b4..b9bbb9c0bf57b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat
@@ -16,6 +16,9 @@ define HAL_PERIPH_ENABLE_ADSB
 define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY
 define HAL_PERIPH_ENABLE_RANGEFINDER
 
+# allow for F9P GPS modules with moving baseline
+define GPS_MOVING_BASELINE 1
+
 define HAL_PERIPH_ADSB_PORT_DEFAULT 3
 
 define HAL_AIRSPEED_BUS_DEFAULT 0