There are three att and pos control source codes -- fw_att/fw_pos; gnd_att/gnd_pos; mc_att/mc_pos control sources.
When the px4 is built for Pixhawk 1/ Nuttx; and configured in the QGroundControl as Multirotor,
which position and attitude is actually processing the estimations for the control of the copter?
Or are all of them running ? it will lag the entire system!
Or is it mc_pos_control and mc_att_control ?
I would need a reply asap for upgrading the firmware and remove some redundant code in the processing !