Tidy state estimator docs

en/advanced/switching_state_estimators.md

@@ -1,33 +1,22 @@
 # Switching State Estimators
-This page shows you which state estimators are available and how you can switch between them.
-
-## Available estimators
-
-**1. Q attitude estimator**
-
-The attitude Q estimator is a very simple, quaternion based complementary filter for attitude.
-
-**2. INAV position estimator**
 
-The INAV position estimator is a complementary filter for 3D position and velocity states.
-
-
-**3. LPE position estimator**
+This page shows you which state estimators are available and how you can switch between them.
 
-The LPE position estimator is an extended kalman filter for 3D position and velocity states.
+## Available #stimators
 
-**4. EKF2 attitude, position and wind states estimator**
+The available estimators are: 
+- **Q attitude estimator** - The attitude Q estimator is a very simple, quaternion based complementary filter for attitude.
+- **INAV position estimator** - The INAV position estimator is a complementary filter for 3D position and velocity states.
+- **LPE position estimator** - The LPE position estimator is an extended kalman filter for 3D position and velocity states.
+- **EKF2 attitude, position and wind states estimator** - EKF2 is an extended kalman filter estimating attitude, 3D position / velocity and wind states.
 
-EKF2 is an extended kalman filter estimating attitude, 3D position / velocity and wind states.
+## How to Enable Different Estimators
 
-## How to enable different estimators
-For multirotors and VTOL use the parameter **SYS_MC_EST_GROUP** to chose between the following configurations.
+For multirotors and VTOL use the parameter [SYS_MC_EST_GROUP](../advanced/parameter_reference.md#SYS_MC_EST_GROUP) to choose between the following configurations.
 
 
 | SYS_MC_EST_GROUP | Q Estimator| INAV | LPE | EKF2 |
 | --- | --- | --- | --- | --- |
 | 0 | enabled | enabled | | |
 | 1 | enabled |  | enabled | |
 | 2 |  |  | | enabled |
-
-