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/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