Preventing an unstable EKF

Fair enough. As well as cost, I’m trying to keep the size of the whole unit as small as possible.

I’m dealing with high speeds (160 knots) and a few seconds of g-forces over 4g, so I think that the quality of the GPS is paramount. In this use case, I’m thinking that the ability to handle and recover from large g-forces is more important that the acquisition of satellites and positional accuracy. What’s your view?

I’ve just watched a video and read a post by Andy Piper, who really rates the Holybro M10 Micro, is that a big enough step up from the Beitian BE-450?