RTK-Heading

GPS/GNSS
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Open and record a .UBX file in uCenter, this should allow you to save the configuration as part of the initial diagnostic output / probe.

Perhaps create a forwarding method on the STM32 so the PC can see and interact with the data stream from the ZED.

If you have configured the ZED correctly, the STM32 should see the UBX packets and parse them.

Probably getting the packets..

You could inspect UART1.TX on ZED by tapping via a logic analyzer, or via RX pin of a USB to CMOS Serial adapter.

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Note there are two forms of UBX-NAV-RELPOSNED, the ZED-F9P outputs a larger form than earlier NEO-M8P firmwares.

Check STM32 side UBX parser can differentiate NMEA and UBX packets in the stream, even if it can’t fully decode them.