ECL: Clean velPos logging, deprecate ekf2_innovations msg

Tools/ecl_ekf/analysis/data_version_handler.py

@@ -0,0 +1,48 @@
+#! /usr/bin/env python3
+"""
+function collection for handling different versions of log files
+"""
+from pyulog import ULog
+
+from analysis.detectors import PreconditionError
+
+def get_output_tracking_error_message(ulog: ULog) -> str:
+    """
+    return the name of the message containing the output_tracking_error
+    :param ulog:
+    :return: str
+    """
+    for elem in  ulog.data_list:
+        if elem.name == "ekf2_innovations":
+            return "ekf2_innovations"
+        if elem.name == "estimator_innovations":
+            return "estimator_status"
+
+    raise PreconditionError("Could not detect the message containing the output tracking error")
+
+def get_innovation_message(ulog: ULog, topic: str = 'innovation') -> str:
+    """
+    return the name of the innovation message (old: ekf2_innovations; new: estimator_innovations)
+    :param ulog:
+    :return: str
+    """
+    if topic == 'innovation':
+        for elem in  ulog.data_list:
+            if elem.name == "ekf2_innovations":
+                return "ekf2_innovations"
+            if elem.name == "estimator_innovations":
+                return "estimator_innovations"
+    if topic == 'innovation_variance':
+        for elem in  ulog.data_list:
+            if elem.name == "ekf2_innovations":
+                return "ekf2_innovations"
+            if elem.name == "estimator_innovations":
+                return "estimator_innovations"
+    if topic == 'innovation_test_ratio':
+        for elem in  ulog.data_list:
+            if elem.name == "ekf2_innovations":
+                return "ekf2_innovations"
+            if elem.name == "estimator_innovations":
+                return "estimator_innovations"
+
+    raise PreconditionError("Could not detect the message")