Hello! I am building a triple redundant algorithm for PX4. After studying a bit further the multi-ekf support, I’m changing my strategy about fault detection. Instead of reading the topic estimator_status.msg I climbed to the upper level to read the estimator_selector_status.msg and to make the decision using the “healthy” of each instance as well as “instances_available”, “instance_changed_count”, “gyro_fault_detected”, “accel_fault_detected” or even “combined_test_ratio” and “relative_teste_ratio”. Does anyone think it’s reasonable to consider a PX4 system failure if I have less than 3 healthy instances from multi-ekf? I am still trying to find the best way to relate this new data variables with my conclusion about PX4 status. Thanks in advance!