{"action":"closed","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/4309","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/4309/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/4309/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/4309/events","html_url":"https://github.com/PX4/Firmware/issues/4309","id":149726088,"number":4309,"title":"Estimators Clarification.","user":{"login":"tubeme","id":12617619,"avatar_url":"https://avatars.githubusercontent.com/u/12617619?v=3","gravatar_id":"","url":"https://api.github.com/users/tubeme","html_url":"https://github.com/tubeme","followers_url":"https://api.github.com/users/tubeme/followers","following_url":"https://api.github.com/users/tubeme/following{/other_user}","gists_url":"https://api.github.com/users/tubeme/gists{/gist_id}","starred_url":"https://api.github.com/users/tubeme/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tubeme/subscriptions","organizations_url":"https://api.github.com/users/tubeme/orgs","repos_url":"https://api.github.com/users/tubeme/repos","events_url":"https://api.github.com/users/tubeme/events{/privacy}","received_events_url":"https://api.github.com/users/tubeme/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":6,"created_at":"2016-04-20T10:18:34Z","updated_at":"2016-05-03T17:02:28Z","closed_at":"2016-05-03T17:02:28Z","body":"Hi guys,\r\n\r\nI read the rc init.d scripts and have something I cannot understand:\r\n\r\nFrom: Firmware/ROMFS/px4fmu_common/init.d/rc.fw_apps\r\n\r\nwe have the default estimator for FW is EKF.\r\n\r\nFrom MC Firmware/ROMFS/px4fmu_common/init.d/rc.mc_apps we have:\r\n\r\n3 options INAV, LPE, and the third EKF2.\r\n\r\n\r\nSo now my question is what is the situation for  VTOL?\r\n\r\nFrom: Firmware/ROMFS/px4fmu_common/init.d/rc.vtol_apps\r\n\r\nI see estimators only for the MC mode of the VTOL. What is the estimator when the VTOL is in FW? I don't see ekf as option nor we start the ekf in the VTOL.\r\n\r\nCan somebody clarify the situation?\r\n\r\nAlso I cannot understand something. Is EKF2 attitude and position estimator at the same time? This is how I understand it BTW..."}}