Clarification on flow_hold

I need a little clarification on flow_hold mode.
In an attempt to mitigate a GPS error as occurred to me back in december that came very close to crash the quad i am investigating the flow hold option.

What i would like to understand is if i put a flow on my copter and i fly in loiter using GPS, lets say that gps goes crazy and i switch to flow_hold, does ekf drop gps and flies only on flow_hold? If that is the way it works it would be a very nice safety feature.

Please comment :slight_smile:

You are correct. Flow hold only uses the flow for position hold. It does not use the GPS in the EFK when in flow hold. In my experience the copter will drop a foot or when switching between loiter and flow hold.

Great that is what i was looking for.