Q.1:
For a crop spraying drone for vineyards, we integrated RTK stream to improve GPS accuracy to centimeter level and improve the quality and safety of the application. Only issue is that with PX4, the drone is shifting its position when it losses/regains the RTK correction according to xyz correction it had before. In our case, flying 2-3 meters above vineyards, this is a problem and we needed to disable RTK capability after we had two crashes of our drones going down when PX4 switched from RTK to non-RTK states, …
I open an issue here and I would like to discuss what should be the right behavior in this case and find people capable of applying the correction if it needs to be done on PX4 side