Added SYS_MC_EST_GROUP to allow fine grained algorithm selection.

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -3,24 +3,34 @@
 # Standard apps for vtol:
 # att & pos estimator, att & pos control.
 #
+#
 
-# The system is defaulting to INAV_ENABLED = 1
-# but users can alternatively try the EKF-based
-# filter by setting INAV_ENABLED = 0
-if param compare INAV_ENABLED 1
+
+#---------------------------------------
+# Estimator group selction
+#
+# INAV
+if param compare SYS_MC_EST_GROUP 0
 then
 	attitude_estimator_q start
 	position_estimator_inav start
-else
-	if param compare LPE_ENABLED 1
-	then
-		attitude_estimator_q start
-		local_position_estimator start
-	else
-		ekf2 start
-	fi
 fi
 
+# LPE
+if param compare SYS_MC_EST_GROUP 1
+then
+	attitude_estimator_q start
+	local_position_estimator start
+fi
+
+# EKF
+if param compare SYS_MC_EST_GROUP 2
+then
+	ekf2 start
+fi
+#---------------------------------------
+
+
 vtol_att_control start
 mc_att_control start
 mc_pos_control start