delete SYS_MC_EST_GROUP

- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN)
 - add basic checks to prevent EKF2 + LPE running simultaneously

boards/diatone/mamba-f405-mk2/init/rc.board_defaults

@@ -9,9 +9,4 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Disable safety switch by default
 param set-default CBRK_IO_SAFETY 22027
 
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
-
 param set-default SYS_HAS_MAG 0

boards/flywoo/gn-f405/init/rc.board_defaults

@@ -12,14 +12,9 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Disable safety switch by default
 param set-default CBRK_IO_SAFETY 22027
 
-# EKF2 can be enabled when baro is avaialble and EKF2_MAG_TYPE is set to 5
-param set-default SYS_MC_EST_GROUP 2
 param set-default EKF2_MAG_TYPE 5
 param set-default SENS_BOARD_ROT 6
 
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
-
 param set-default SYS_HAS_MAG 0
 
 # GPS is on Uart6

boards/omnibus/f4sd/init/rc.board_defaults

@@ -12,9 +12,4 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Disable safety switch by default
 param set-default CBRK_IO_SAFETY 22027
 
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
-
 param set-default SYS_HAS_MAG 0

boards/spracing/h7extreme/init/rc.board_defaults

@@ -12,9 +12,4 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Select the Generic 250 Racer by default
 param set-default SYS_AUTOSTART 4050
 
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
-
 param set-default SYS_HAS_MAG 0