{"action":"created","comment":{"url":"https://api.github.com/repos/PX4/px4_user_guide/pulls/comments/210518725","pull_request_review_id":146748639,"id":210518725,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIxMDUxODcyNQ==","diff_hunk":"@@ -36,21 +36,20 @@ The easiest way to calculate the optical flow is to use the [PX4Flow](../sensor/\n \n #### Other Cameras\n \n-It is also possible to use a board/quad that has an integrated camera (Bebop2, Snapdragon Flight). \n+It is also possible to use a board/quad that has an integrated camera (Bebop2, Snapdragon Flight).\n For this the [Optical Flow repo](https://github.com/PX4/OpticalFlow) can be used (see also [snap_cam](https://github.com/PX4/snap_cam)).\n \n ### Range Finder\n \n You can use any supported [distance sensor](../sensor/rangefinders.md).\n-However we recommend using a LIDAR over a Sonar, because of robustness and accuracy. \n+However we recommend using a LIDAR over a Sonar, because of robustness and accuracy.\n \n ## Estimators\n \n ### Extended Kalman Filter (EKF2)\n \n-For Optical Flow fusion using EKF2, the parameter [EKF2_AID_MASK](../advanced_config/parameter_reference.md#EKF2_AID_MASK) must be set to `1`.\n+For Optical Flow fusion using EKF2, the second bit of the parameter [EKF2_AID_MASK](../advanced_config/parameter_reference.md#EKF2_AID_MASK) must be enabled (e.g. flow only -> `2`).","path":"en/sensor/optical_flow.md","position":27,"original_position":27,"commit_id":"927f6b0248bb7b4feae1e7f162807b63fee2a5cc","original_commit_id":"927f6b0248bb7b4feae1e7f162807b63fee2a5cc","user":{"login":"hamishwillee","id":5368500,"node_id":"MDQ6VXNlcjUzNjg1MDA=","avatar_url":"https://avatars2.githubusercontent.com/u/5368500?v=4","gravatar_id":"","url":"https://api.github.com/users/hamishwillee","html_url":"https://github.com/hamishwillee","followers_url":"https://api.github.com/users/hamishwillee/followers","following_url":"https://api.github.com/users/hamishwillee/following{/other_user}","gists_url":"https://api.github.com/users/hamishwillee/gists{/gist_id}","starred_url":"https://api.github.com/users/hamishwillee/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hamishwillee/subscriptions","organizations_url":"https://api.github.com/users/hamishwillee/orgs","repos_url":"https://api.github.com/users/hamishwillee/repos","events_url":"https://api.github.com/users/hamishwillee/events{/privacy}","received_events_url":"https://api.github.com/users/hamishwillee/received_events","type":"User","site_admin":false},"body":"Great :-). Are you set up with gitbook enough to do this - or do you want me to look at it?","created_at":"2018-08-16T08:42:46Z","updated_at":"2018-08-16T08:42:46Z","html_url":"https://github.com/PX4/px4_user_guide/pull/320#discussion_r210518725","pull_request_url":"https://api.github.com/repos/PX4/px4_user_guide/pulls/320","author_association":"COLLABORATOR","_links":{"self":{"href":"https://api.github.com/repos/PX4/px4_user_guide/pulls/comments/210518725"},"html":{"href":"https://github.com/PX4/px4_user_guide/pull/320#discussion_r210518725"},"pull_request":{"href":"https://api.github.com/repos/PX4/px4_user_guide/pulls/320"}},"in_reply_to_id":210252077},"pull_request":{"url":"https://api.github.com/repos/PX4/px4_user_guide/pulls/320","id":208511189,"node_id":"MDExOlB1bGxSZXF1ZXN0MjA4NTExMTg5","html_url":"https://github.com/PX4/px4_user_guide/pull/320","diff_url":"https://github.com/PX4/px4_user_guide/pull/320.diff","patch_url":"https://github.com/PX4/px4_user_guide/pull/320.patch","issue_url":"https://api.github.com/repos/PX4/px4_user_guide/issues/320","number":320,"state":"open","locked":false,"title":"optical flow: fix doc on how to enable flow with ekf2","user":{"login":"ChristophTobler","id":14769636,"node_id":"MDQ6VXNlcjE0NzY5NjM2","avatar_url":"https://avatars1.githubusercontent.com/u/14769636?v=4","gravatar_id":"","url":"https://api.github.com/users/ChristophTobler","html_url":"https://github.com/ChristophTobler","followers_url":"https://api.github.com/users/ChristophTobler/followers","following_url":"https://api.github.com/users/ChristophTobler/following{/other_user}","gists_url":"https://api.github.com/users/ChristophTobler/gists{/gist_id}","starred_url":"https://api.github.com/users/ChristophTobler/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ChristophTobler/subscriptions","organizations_url":"https://api.github.com/users/ChristophTobler/orgs","repos_url":"https://api.github.com/users/ChristophTobler/repos","events_url":"https://api.github.com/users/ChristophTobler/events{/privacy}","received_events_url":"https://api.github.com/users/ChristophTobler/received_events","type":"User","site_admin":false},"body":"Just came across this: '1' means GPS only. The second bit needs to be enabled for 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