EKF2: gps and optical flow in loiter combine data?

Hello

Yes, actually the EKF is blending both signals and will progessively reject a bad Gps and use the opticalflow as the velocity estimator (with IMU as state estimators as well). When Gps gets back to normal the EKF will mix it back.

There is are parameters EK2 and EK3 than set the gps and other state estimators confidence levels

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