This page shows you which state estimators are available and how you can switch between them.
1. Q attitude estimator
The attitude Q estimator is a very simple, quaternion based complementary filter for attitude.
2. INAV position estimator
The INAV position estimator is a complementary filter for 3D position and velocity states.
3. LPE position estimator
The LPE position estimator is an extended kalman filter for 3D position and velocity states.
4. EKF2 attitude, position and wind states estimator
EKF2 is an extended kalman filter estimating attitude, 3D position / velocity and wind states.
4. EKF attitude, position and wind states estimator (deprecated) This is an extended kalman filter similar to EKF2. However, it will soon be replaced completely by EKF2. This filter was only used for fixed wings.
For multirotors and VTOL use the parameter SYS_MC_EST_GROUP to chose between the following configurations.
| SYS_MC_EST_GROUP | Q Estimator | INAV | LPE | EKF2 |
|---|---|---|---|---|
| 0 | enabled | enabled | ||
| 1 | enabled | enabled | ||
| 2 | enabled |