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Add a way to reuse the orientation from prev msg

Igor Bogoslavskyi requested to merge 505-ekf-add-passthrough-orientation into master

Description

This MR allows to reuse the orientation received in the last pose msg when the speed is too low and we cannot rely on it for estimating the orientation. This is a bit of a hack, but it does not hurt in its default state and we would still be able to just ignore it if we switch the model to a CATR motion model for state estimation.

Related to #505 (closed)

Checklist

  • Documentation was updated

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