code: def get_estimator(self):
          
  
          mav_type = self._ulog.initial_parameters.get('MAV_TYPE', None)
          if mav_type == 1: # fixed wing always uses EKF2
              return 'EKF2'
  
          mc_est_group = self._ulog.initial_parameters.get('SYS_MC_EST_GROUP', None)
          return {0: 'INAV',
                  1: 'LPE',
                  2: 'EKF2',
                  3: 'IEKF'}.get(mc_est_group, 'unknown ({})'.format(mc_est_group))
docs: return the configured estimator as string from initial parameters