delete SYS_MC_EST_GROUP

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

src/drivers/ins/vectornav/VectorNav.cpp

@@ -62,10 +62,6 @@ VectorNav::VectorNav(const char *port) :
 		v = 0;
 		param_set(param_find("EKF2_EN"), &v);
 
-		// SYS_MC_EST_GROUP 0 (disabled)
-		v = 0;
-		param_set(param_find("SYS_MC_EST_GROUP"), &v);
-
 		// SENS_IMU_MODE (VN handles sensor selection)
 		v = 0;
 		param_set(param_find("SENS_IMU_MODE"), &v);

src/lib/parameters/param_translation.cpp

@@ -73,5 +73,74 @@ param_modify_on_import_ret param_modify_on_import(bson_node_t node)
 		}
 	}
 
+	// 2024-04-15 SYS_MC_EST_GROUP removed
+	if ((node->type == bson_type_t::BSON_INT32) && (strcmp("SYS_MC_EST_GROUP", node->name) == 0)) {
+
+		int32_t value = node->i32;
+
+		// value 1 local_position_estimator, attitude_estimator_q (unsupported)
+		if (value == 1) {
+			// enable local_position_estimator
+			int32_t lpe_en_val = 1;
+			int lpe_en_ret = param_set(param_find("LPE_EN"), &lpe_en_val);
+
+			// enable attitude_estimator_q
+			int32_t att_en_val = 1;
+			int att_en_ret = param_set(param_find("ATT_EN"), &att_en_val);
+
+			// disable ekf2 (only if enabling lpe and att_w was successful)
+			if (lpe_en_ret == PX4_OK && att_en_ret == PX4_OK) {
+				int32_t ekf2_en_val = 0;
+				param_set(param_find("EKF2_EN"), &ekf2_en_val);
+
+			} else {
+				int32_t ekf2_en_val = 1;
+				param_set(param_find("EKF2_EN"), &ekf2_en_val);
+			}
+
+			return param_modify_on_import_ret::PARAM_MODIFIED;
+		}
+
+		// value 2 ekf2 (recommended)
+		if (value == 2) {
+			// disable local_position_estimator
+			int32_t lpe_en_val = 0;
+			param_set(param_find("LPE_EN"), &lpe_en_val);
+
+			// disable attitude_estimator_q
+			int32_t att_en_val = 0;
+			param_set(param_find("ATT_EN"), &att_en_val);
+
+			// enable ekf2
+			int32_t ekf2_en_val = 1;
+			param_set(param_find("EKF2_EN"), &ekf2_en_val);
+
+			return param_modify_on_import_ret::PARAM_MODIFIED;
+		}
+
+		// value 3 Q attitude estimator (no position)
+		if (value == 3) {
+			// disable local_position_estimator
+			int32_t lpe_en_val = 0;
+			param_set(param_find("LPE_EN"), &lpe_en_val);
+
+			// enable attitude_estimator_q
+			int32_t att_en_val = 1;
+			int att_en_ret = param_set(param_find("ATT_EN"), &att_en_val);
+
+			// disable ekf2 (only if enabling att_w was successful)
+			if (att_en_ret == PX4_OK) {
+				int32_t ekf2_en_val = 0;
+				param_set(param_find("EKF2_EN"), &ekf2_en_val);
+
+			} else {
+				int32_t ekf2_en_val = 1;
+				param_set(param_find("EKF2_EN"), &ekf2_en_val);
+			}
+
+			return param_modify_on_import_ret::PARAM_MODIFIED;
+		}
+	}
+
 	return param_modify_on_import_ret::PARAM_NOT_MODIFIED;
 }

src/lib/systemlib/system_params.c

@@ -83,20 +83,6 @@ PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
  */
 PARAM_DEFINE_INT32(SYS_HITL, 0);
 
-/**
- * Set multicopter estimator group
- *
- * Set the group of estimators used for multicopters and VTOLs
- *
- * @value 1 local_position_estimator, attitude_estimator_q (unsupported)
- * @value 2 ekf2 (recommended)
- * @value 3 Q attitude estimator (no position)
- *
- * @reboot_required true
- * @group System
- */
-PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
-
 /**
  * Enable auto start of rate gyro thermal calibration at the next power up.
  *

src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp

@@ -180,6 +180,14 @@ AttitudeEstimatorQ::AttitudeEstimatorQ() :
 
 bool AttitudeEstimatorQ::init()
 {
+	uORB::SubscriptionData<vehicle_attitude_s> vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
+	vehicle_attitude_sub.update();
+
+	if (vehicle_attitude_sub.advertised() && (hrt_elapsed_time(&vehicle_attitude_sub.get().timestamp) < 1_s)) {
+		PX4_ERR("init failed, vehicle_attitude already advertised");
+		return false;
+	}
+
 	if (!_sensors_sub.registerCallback()) {
 		PX4_ERR("callback registration failed");
 		return false;

src/modules/attitude_estimator_q/attitude_estimator_q_params.c

@@ -39,6 +39,16 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
+/**
+ * standalone attitude estimator enable (unsupported)
+ *
+ * Enable standalone quaternion based attitude estimator.
+ *
+ * @group Attitude Q estimator
+ * @boolean
+ */
+PARAM_DEFINE_INT32(ATT_EN, 0);
+
 /**
  * Complimentary filter accelerometer weight
  *

src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp

@@ -99,7 +99,10 @@ void EstimatorChecks::checkAndReport(const Context &context, Report &reporter)
 		}
 	}
 
-	if (missing_data && _param_sys_mc_est_group.get() == 2) {
+	int32_t param_ekf2_en = 0;
+	param_get(param_find_no_notification("EKF2_EN"), &param_ekf2_en);
+
+	if (missing_data && (param_ekf2_en == 1)) {
 		/* EVENT
 		 */
 		reporter.armingCheckFailure(required_groups, health_component_t::local_position_estimate,

src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp

@@ -106,7 +106,6 @@ private:
 	bool _nav_failure_imminent_warned{false};
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
-					(ParamInt<px4::params::SYS_MC_EST_GROUP>) _param_sys_mc_est_group,
 					(ParamInt<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode,
 					(ParamInt<px4::params::COM_ARM_MAG_STR>) _param_com_arm_mag_str,
 					(ParamFloat<px4::params::COM_ARM_EKF_HGT>) _param_com_arm_ekf_hgt,

src/modules/ekf2/EKF2.cpp

@@ -237,7 +237,6 @@ EKF2::~EKF2()
 bool EKF2::multi_init(int imu, int mag)
 {
 	// advertise all topics to ensure consistent uORB instance numbering
-	_ekf2_timestamps_pub.advertise();
 	_estimator_event_flags_pub.advertise();
 	_estimator_innovation_test_ratios_pub.advertise();
 	_estimator_innovation_variances_pub.advertise();

src/modules/ekf2/ekf2_params.c

@@ -39,6 +39,14 @@
  *
  */
 
+/**
+ * EKF2 enable
+ *
+ * @group EKF2
+ * @boolean
+ */
+PARAM_DEFINE_INT32(EKF2_EN, 1);
+
 /**
  * EKF prediction period
  *

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -137,6 +137,14 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
 bool
 BlockLocalPositionEstimator::init()
 {
+	uORB::SubscriptionData<vehicle_local_position_s> vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
+	vehicle_local_position_sub.update();
+
+	if (vehicle_local_position_sub.advertised() && (hrt_elapsed_time(&vehicle_local_position_sub.get().timestamp) < 1_s)) {
+		PX4_ERR("init failed, vehicle_local_position already advertised");
+		return false;
+	}
+
 	if (!_sensors_sub.registerCallback()) {
 		PX4_ERR("callback registration failed");
 		return false;

src/modules/local_position_estimator/params.c

@@ -1,6 +1,12 @@
 #include <parameters/param.h>
 
-// 16 is max name length
+/**
+ * Local position estimator enable (unsupported)
+ *
+ * @group Local Position Estimator
+ * @boolean
+ */
+PARAM_DEFINE_INT32(LPE_EN, 0);
 
 /**
  * Optical flow z offset from center