What are differences between NavEKF and NavEKF2

@Uncle wrote:

I've searched in forums, but failed to find clear results. If it's already answered, please let me know the link...
According src code, it uses EKF2 in px4-v1 and px4-v2, but enable EKF1 if px4-v4 is used.
So,
1. It seems EKF1(NavEKF) is more complicated and advanced than EKF2(NavEKF2) ?
2. Any other key differences ?
3. By my understanding, ArduCopter will use EKF1 or EKF2, but never use both. Is that right?

Thanks a lot.

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