Hi @rmackay9,
thanks for pointing out.
I though that setup 3 maybe was doind an auto switch as in EKF2 old times according to post: EKF2: gps and optical flow in loiter combine data? - #6 by ppoirier
Also In setup 2 the transition are either switch based or lua script based?
I tried setup 2 with manual switch and I would prefer it, if I was not having a problem/bug, I haven’t found any solution, described here: Strange flow behaviour or EFK3 switching source/initializing bug
Thanks for the help!