Switching State Estimators

This page shows you which state estimators are available and how you can switch between them.

EKF2 is highly recommended for all purposes (LPE is no longer maintained).

Available Estimators

The available estimators are:

  • Q attitude estimator - The attitude Q estimator is a very simple, quaternion based complementary filter for attitude.
  • INAV position estimator - The INAV position estimator is a complementary filter for 3D position and velocity states.
  • LPE position estimator - The LPE position estimator is an extended kalman filter for 3D position and velocity states.
  • EKF2 attitude, position and wind states estimator - EKF2 is an extended kalman filter estimating attitude, 3D position / velocity and wind states.

How to Enable Different Estimators

For multirotors and VTOL use the parameter SYS_MC_EST_GROUP to choose between the following configurations (LPE is not supported for Fixed Wing).

0 enabled enabled
1 enabled enabled
2 enabled

For FMU-v2 (only) you will also need to build PX4 to specifically include required estimator (e.g. EKF2: make px4_fmu-v2, LPE: make px4_fmu-v2_lpe). This is required because FMU-v2 is too resource constrained to include both estimators. Other Pixhawk FMU versions include both.

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