Best effort EKF replay on non-replayable logs #24455
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Run at sensor_combined speed and publish all other sensors occuring between 2 sonsor_combined samples. This allows a crude replay in case ekf2 replay was not enabled during the flight.
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Solved Problem
When estimator replay is not enabled in
SDLOG_PROFILE, theekf2_timestampstopic is missing and the sensors are not logged at full rate. However, it could be still interesting to attempt a crude replay.Solution
When
ekf2_timestampsis not available to precisely align the data, schedule the replay onsensor_combinedtopic update and publish all other topics that got published between 2 updates.Test coverage
Replayable log (estimator replay enabled), Left: replay result of main; Right: replay result of PR
Non-replayable log (estimator replay disabled), Left: original; Right: replayed with this PR
