Which estimator(s) is being used out of all (PX4 | Pixhawk 6C/6X/6X Pro)

[MuhammadBilal1]

Describe the bug

There are multiple Accel/Gyro sensors available in the different editions of the Pixhawk (6C/6X/6X Pro).

How these multiple sensors are being used?

• Sensor fusion
  • If the sensor fusion is being done, what happens to the bad data if there is any?
• Only single sensor with good data
  • If only single instance is being used, how to identify which sensor is being used?
  • If only single instance is being used, how the sensor is switched during the flight if that data goes bad?

How the priority of the sensors is set?
How do I know which sensor is being used in the flight from the flight log?

To Reproduce

No response

Expected behavior

No response

Screenshot / Media

No response

Flight Log

Pixhawk 6X Pro:
https://review.px4.io/plot_app?log=9bc0accd-c0d1-4b60-bd06-51df47df33b9

Pixhawk 6C:
https://review.px4.io/plot_app?log=3c848853-7a08-48aa-b412-4c4974c7f548

Software Version

PX4 1.14.3
PX4 1.15.0

Flight controller

Pixhawk

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response

[AlexisTM]

It seems you want a discussion, in which case it may be better to drop a message on Discord or Discourse.

[MuhammadBilal1]

It seems you want a discussion, in which case it may be better to drop a message on Discord or Discourse.

Done. Any help regarding this will be appreciated.
https://discord.com/channels/1022170275984457759/1022186188255285399/1296123280599679086

[mrpollo]

You should find answers to your questions here https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html