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Add topic diagnostics and state lock protection for filter. #916

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Add topic diagnostics and state lock protection for filter. #916

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@AzaelCicero
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PR introduces two functionalities:

  1. diagnostic information about subscribed topics done via diagnostic_updater
  2. State Lock Mechanism which monitors how long ago the state variable was updated (not rejected by Mahalanobis threshold) with the global source and in case of exceeding the configurable threshold the variance of this variable is reset. Currently applied only to the X, Y, Z variables.

Add topic diagnostics
dc56d35 
SDP-3043: Removed forced update of the diagnostics as diagnostic updater

Resolve SDP-4362 "State lock protection"

SDP-4619: Added information per source about the time from last acceptance.

SDP-4619: Added more elaborate diagnostics.

Linter

SDP-4619: After CR.

SDP-4619: Reverted unnecessary reformating.

Removed space.

Removed space.

Fixes after rebase.

Fixes after rebase
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@AzaelCicero