Can UAV Toolbox Support Package for PX4 Autopilots support custom "observer" algorithm?

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Hello, I have some question about UAV Toolbox Support Package for PX4 Autopilots.
Well, I know this package support for custom flight algorithms, which are attitude and position but I wonder if this package support for custom "observer" algorithm. It says "enables you to design controllers and estimators in Simulink and deploy to PX4 Autopilot boards" But It's hard to find method to substitute observer Because only below figure was introduced.
In my think if removing basic ekf and constructing my own observer is possible, my question will be solved but I am not sure package allows that.
Also, if replacing flight algorithm is possible, does that mean I can replace any block with my own code? Or does this package set some boundaries where I can fix and where I cannot?
Thanks for reading and replying in advance!

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Abhishek GS
Abhishek GS 2021-8-31
One can design their own custom estimators using the UAV Toolbox Support Package for PX4 Autopilots. The 'Vehicle Attitude' block outputs the attitude measurements from the 'ekf2' module. If one wants to design their own estimator, they can develop their own algorithm using the sensor blocks such as 'Accelerometer', 'Gyroscope', 'Magnetometer', 'GPS' etc. The 'Vehicle Attitude' block need not be used in the Simulink model in that case. Though, the 'ekf2' module would still be running as it is enabled in the rc.txt, it will not interfere with the custom controller developed in Simulink.
If you do want to disable the 'ekf2' module, please edit the 'rc.txt' file on the SD card and remove/comment the 'ekf2 start' line.

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