SYS_MC_EST_GROUP mark LPE unsupported and update airframes (#11925)

src/lib/systemlib/system_params.c

@@ -100,8 +100,8 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
  *
  * Set the group of estimators used for multicopters and VTOLs
  *
- * @value 1 local_position_estimator, attitude_estimator_q
- * @value 2 ekf2
+ * @value 1 local_position_estimator, attitude_estimator_q (unsupported)
+ * @value 2 ekf2 (recommended)
  *
  * @min 1
  * @max 2

src/modules/commander/PreflightCheck.cpp

@@ -925,8 +925,15 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
 
 	/* ---- Navigation EKF ---- */
 	// only check EKF2 data if EKF2 is selected as the estimator and GNSS checking is enabled
-	int32_t estimator_type;
-	param_get(param_find("SYS_MC_EST_GROUP"), &estimator_type);
+	int32_t estimator_type = -1;
+
+	if (status.is_rotary_wing && !status.is_vtol) {
+		param_get(param_find("SYS_MC_EST_GROUP"), &estimator_type);
+
+	} else {
+		// EKF2 is currently the only supported option for FW & VTOL
+		estimator_type = 2;
+	}
 
 	if (estimator_type == 2) {
 		// don't report ekf failures for the first 10 seconds to allow time for the filter to start