Paul Riseborough

I've rebased but am having now having problems running the auto-test. I will be available at the Wed dev call to discuss the PR.

> @priseborough I did a flight today: > http://uav.tridgell.net/tmp/00000161.BIN > I tested with both too high and too low ARSPD_RATIO > this was the branch I flew: > https://github.com/tridge/ardupilot/tree/SV-2022-09-11 >...

The white space merge conflict has been fixed and I've rebased on current master.

Whilst investigating the discrepancy between the auto test results for the same test running on my dev environment vs the build server a potential issue was highlighted which was the...

> @priseborough test ratio _really_ oughtn't be dependent on ground course, should it? > >  Yes it will be because with the sensor disabled and an incorrect wind state...

The patch https://github.com/ArduPilot/ardupilot/commit/09df67186b9aaa0e4eab1eccb2e7c6485af0a5a0 has also been tested on replay of the flight test log submitted by @tridge http://uav.tridgell.net/tmp/00000161.BIN This flight failed the airspeed sensor after takeoff, so the patch is...

GPS blending is not the preferred method of using multiple GPS now that we have the ability to run multiple EKF and select based on EKF health and innovation levels....

> 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...

> @priseborough this is failing the dead-reckoning CI test. The EK3 position is resetting on loss of GPS for some reason. > I've put a replay log here: > http://uav.tridgell.net/tmp/ArduPlane-DeadreckoningNoAirSpeed-00000003.BIN...

There are multiple contributing issues: 1. A bug that prevented synthetic or default airspeed being used for dead reckoning if airspeed data was being received but had been disabled by...