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I have an Otty which is still firm after a couple of years. Kept its firmness better than the (admittedly cheaper) IKEA mattresses that I'd previously had. It seems to be the firmest of those new mattress companies.
If you're not fussy it's worth keeping an eye on their eBay stores. They have refurbs (returned and deep steam cleaned) for about half price (and often another discount when eBay do discounts).
Oh great cloud mind, please recommend a mattress that you've owned for years and still like to sleep on.
Requirements: Firm, won't soften up so much that you feel like you're sleeping on Mark Francois' brain.
Any love for IKEA? Our last one cost a fortune, price does not predict durability it seems. Our current one has gone from firm to medium in 2.5 years.