startup scripts: remove INAV, start LPE if INAV selected

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -8,11 +8,12 @@
 #---------------------------------------
 # Estimator group selction
 #
-# INAV
+# INAV (deprecated)
 if param compare SYS_MC_EST_GROUP 0
 then
-	attitude_estimator_q start
-	position_estimator_inav start
+	echo "ERROR [init] Estimator INAV deprecated. Using LPE"
+	param set SYS_MC_EST_GROUP 1
+	param save
 fi
 
 # LPE

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -9,11 +9,12 @@
 #---------------------------------------
 # Estimator group selction
 #
-# INAV
+# INAV (deprecated)
 if param compare SYS_MC_EST_GROUP 0
 then
-	attitude_estimator_q start
-	position_estimator_inav start
+	echo "ERROR [init] Estimator INAV deprecated. Using LPE"
+	param set SYS_MC_EST_GROUP 1
+	param save
 fi
 
 # LPE

src/modules/systemlib/system_params.c

@@ -95,11 +95,10 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
  *
  * Set the group of estimators used for multicopters and vtols
  *
- * @value 0 position_estimator_inav, attitude_estimator_q
  * @value 1 local_position_estimator, attitude_estimator_q
  * @value 2 ekf2
  *
- * @min 0
+ * @min 1
  * @max 2
  * @reboot_required true
  * @group System