update param docs, change default back to old ekf for inav based estimation

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -9,10 +9,10 @@
 # filter by setting INAV_ENABLED = 0
 if param compare INAV_ENABLED 1
 then
-	# The system is defaulting to EKF_ATT_ENABLED = 0
-	# and uses the new quaternion based complimentary
-	# filter. However users can enable the older EKF
-	# filter if they choose to.
+	# The system is defaulting to EKF_ATT_ENABLED = 1
+	# and uses the older EKF filter. However users can
+	# enable the new quaternion based complimentary
+	# filter by setting EKF_ATT_ENABLED = 0.
 	if param compare EKF_ATT_ENABLED 1
 	then
 		attitude_estimator_ekf start

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c

@@ -94,8 +94,18 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
  */
 PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
 
-/* magnetic declination, in degrees */
-PARAM_DEFINE_INT32(EKF_ATT_ENABLED, 0);
+/**
+ * EKF attitude estimator enabled
+ *
+ * If enabled, it uses the older EKF filter.
+ * However users can enable the new quaternion
+ * based complimentary filter by setting EKF_ATT_ENABLED = 0.
+ *
+ * @min 0
+ * @max 1
+ * @group Attitude EKF estimator
+ */
+PARAM_DEFINE_INT32(EKF_ATT_ENABLED, 1);
 
 /* magnetic declination, in degrees */
 PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);

src/modules/position_estimator_inav/position_estimator_inav_params.c

@@ -291,8 +291,8 @@ PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
 /**
  * INAV enabled
  *
- * If set to 1, use INAV for position estimation
- * the system uses the combined attitude / position
+ * If set to 1, use INAV for position estimation.
+ * Else the system uses the combined attitude / position
  * filter framework.
  *
  * @min 0