GPS with Encoders

Hello, I want to setup pixhawk with GPS navigation assisted with data from wheel encoders. In the tutorial Wheel Encoders at it is suggested to enable EKF3 and then change EK3_GPS_TYPE to 3 (No GPS). If I don’t change the last parameter will the EKF3 be taking into consideration both GPS and encoders position?

As described in this PR it seems that wheel encoders AND GPS can be used together to improve position estimation:
“This PR allows non-GPS navigation using wheel encoders in place of (or in addition to) a GPS”

Haven’t tried it by myself, maybe someone else can confirm.