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 supported/maintained).
The available estimators are:
- EKF2 attitude, position and wind states estimator - EKF2 is an extended kalman filter estimating attitude, 3D position / velocity and wind states.
- LPE position estimator - The LPE position estimator is an extended kalman filter for 3D position and velocity states.
- Q attitude estimator - The attitude Q estimator is a very simple, quaternion based complementary filter for attitude.
For multirotors and VTOL use the parameter SYS_MC_EST_GROUP to choose between the following configurations (LPE is not supported for Fixed Wing).
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.