Precision Landing without GPS

Ahh, that makes sense. We are using EKF 3 because we need external YAW sensor (dual GPS)

So right now if we set EKF gps type to 3 (no GPS), we get AHRS errors and EKF errors (obviously) because there is no positional data being used. Are you saying that if we were to plug in the IR lock in this state, the errors would go away and we could fly?

Is it the fact that the EKF sees velocity+position XY commands from somewhere/anywhere that enables it to pass the checks and arm?

Thanks!