Optical Flow + GPS simultaneously

I remember there being a discussion of changing the ekf to use optical flow and gps simultaneously. Is this the case in now in 3.4-rc2 or is it still on the to-do list?

If it is enabled, what setting do I use for ekf_gps_type?

@jaredm, I’m afraid the GPS and optical flow based position holds are still quite separate… I think it can fail-over from GPS to optical flow but as far as I remember it doesn’t use both sets of data at the same time.
I hope to start testing with the optical flow in a month or so so maybe I’ll work with Paul on a more complete integration for Copter-3.5.