Jonas Perolini

> I think it looks good. I still don't like the GPS blending, and I like it even less with the offsets added in, but at least this proper handling...

Hi @priseborough, I also agree that GNSS blending is not best, however I don't understand the proposed multiple EKF strategy. Why do we need to run multiple EKF in parallel...

For larger drones with two GNSS units, it's crucial to have an offset for both antennas. Even if the blending is not enabled, if the main GNSS fails, falling back...

The PR has been flight tested and is ready to be reviewed @dagar @bresch @potaito. Note that due to stack size limitations, it was necessary to create custom build images...

Now that we don't have coupled filters, we can refactor the Base KF class to simplify the code and improve the virtual class inheritance (commit https://github.com/PX4/PX4-Autopilot/pull/22008/commits/53b45be8e28c1f35870dbc7e2a0f8ab3f509d0ac). Main changes: 1. In...

> > Create a general Kalman Filter framework in which it is simple to include other observations e.g. uwb, irlock > > If this PR is merged, does it mean...

> This would be very useful! Any idea on timeline for merge? Hopefully in the next couple of months @AMoldskred. I will have time to continue working on the final...

Sorry for the delay @asmorkalov , @AleksandrPanov in the end I haven't changed the code and it is ready to be reviewed. I was implementing more changes which improve the...