Simplify ForwardKinematics interface, improve ImuBiasLock debug output and performance

wxmerkt commented 3 years ago

This PR includes:

Simplifies the ForwardKinematics interface removing the requirement for redundant declarations in implementations. There is no requirement for amending existing implementations.
Throttles the warning when leg odometry fails for easier flight phase support
Adds a single option to toggle the debug output in ImuBiasLock (we've had a few recent PRs to comment/uncomment these lines and this is an easier way of handling things). I've also amended the messages slightly to be more clear
Slight performance improvements in ImuBiasLock

mcamurri commented 3 years ago

No idea why the server is failing now, but I approve this.

mcamurri commented 3 years ago

Not sure what's causing the server failure but if I get the green tick I merge

wxmerkt commented 3 years ago

[  FAILED  ] InsModule.ballisticTrajectory (2018 ms)

I've restarted the failed builds - fingers crossed it comes back green

ori-drs / pronto