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/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