I really wish I had found that article sooner, thanks for saving the day again @jwalser!
Saw on another thread that you mentioned implementing the EKF module from the ArduSub firmware on the Pixhawk. I’m trying to write a script in Python that uses that module, but I’m not sure how that should look like. Namely, could I even use the module detailed here, as it relies on the ArduPilot firmware and was developed from drones?