lpe: add vehicle_odometry and data validation handlers; improve inout interface

src/modules/local_position_estimator/sensors/sonar.cpp

@@ -66,9 +66,10 @@ int BlockLocalPositionEstimator::sonarMeasure(Vector<float, n_y_sonar> &y)
 	_sonarStats.update(Scalarf(d));
 	_time_last_sonar = _timeStamp;
 	y.setZero();
+	matrix::Eulerf euler(matrix::Quatf(_sub_att.get().q));
 	y(0) = (d + _sonar_z_offset.get()) *
-	       cosf(_eul(0)) *
-	       cosf(_eul(1));
+	       cosf(euler.phi()) *
+	       cosf(euler.theta());
 	return OK;
 }