Added SYS_MC_EST_GROUP to allow fine grained algorithm selection.

src/modules/position_estimator_inav/position_estimator_inav_params.cpp

@@ -345,18 +345,6 @@ PARAM_DEFINE_FLOAT(INAV_LIDAR_OFF, 0.0f);
  */
 PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
 
-/**
- * INAV enabled
- *
- * If set to 1, use INAV for position estimation.
- * Else the system uses the combined attitude / position
- * filter framework.
- *
- * @boolean
- * @group Position Estimator INAV
- */
-PARAM_DEFINE_INT32(INAV_ENABLED, 1);
-
 int inav_parameters_init(struct position_estimator_inav_param_handles *h)
 {
 	h->w_z_baro = param_find("INAV_W_Z_BARO");

src/modules/sensors/sensors.cpp

@@ -682,7 +682,7 @@ Sensors::Sensors() :
 	(void)param_find("PWM_AUX_DISARMED");
 	(void)param_find("TRIG_MODE");
 	(void)param_find("UAVCAN_ENABLE");
-	(void)param_find("LPE_ENABLED");
+	(void)param_find("SYS_MC_EST_GROUP");
 
 	/* fetch initial parameter values */
 	parameters_update();

src/modules/systemlib/system_params.c

@@ -82,6 +82,22 @@ PARAM_DEFINE_INT32(SYS_USE_IO, 1);
  */
 PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
 
+/**
+ * Set multicopter estimator group
+ *
+ * Set the group of estimators used for multicopters and vtols
+ *
+ * @value 0 position_estimator_inav, attitude_estimator_q
+ * @value 1 local_position_estimator, attitude_estimator_q
+ * @value 2 ekf2
+ *
+ * @min 0
+ * @max 2
+ * @reboot_required true
+ * @group System
+ */
+PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 0);
+
 /**
  * Companion computer interface
  *