Our new video shows position hold (the position can be moved on the fly, so its actually full position control) using the PX4FMU autopilot plus PX4FLOW on the AR.Drone 2.0 frame. We have created a set of example apps to show how flow can be used for position control - these are however just textbook like examples, no bells and whistles, no complete sensor fusion and no attempt to max out on performance.
This post is also to announce the availability of the PX4FLOW open source firmware. We are only releasing it now since we wanted to do all restructuring necessary before we release it, so that any open source contribution won't be left behind because the structure changes dramatically. We invested a full person month into getting things clean, nice and simple, and we hope developers will appreciate the effort.