This. I understand that I must figure out WHY these jumps happen in the first place, but as I’m trying to locate this subtle issue, it’s nice to have a mechanism that switches smoothly between mags in case this happens.
Multiple EKFs (one per each IMU) will mitigate this for sure (in case this issue only “locks” one mag at a time). I didn’t know that was coming in 1.12, thanks!
It is not obvious to me why woud an average of 2 independent measurements be worse estimate than a measurement from a single sensor 
Can you please give an explanation or point to some article/video that explains that?