Switching State Estimators

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

:::tip EKF2 is highly recommended for all purposes (LPE is no longer supported/maintained). :::

Available Estimators

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.

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).

:::note 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. :::