ECL: Clean velPos logging, deprecate ekf2_innovations msg

msg/tools/uorb_rtps_message_ids.yaml

@@ -45,8 +45,7 @@ rtps:
   - msg: distance_sensor
     id: 17
     send: true
-  # TODO: replace with 'estimator_innovations' as https://github.com/PX4/Firmware/pull/13127 is rebased over this
-  - msg: ekf2_innovations
+  - msg: estimator_innovations
     id: 18
   - msg: ekf2_timestamps
     id: 19
@@ -336,4 +335,10 @@ rtps:
   - msg: vehicle_visual_odometry_aligned
     id: 169
     alias: vehicle_odometry
+  - msg: estimator_innovation_variances
+    id: 170
+    alias: estimator_innovations
+  - msg: estimator_innovation_test_ratios
+    id: 171
+    alias: estimator_innovations
   ########## multi topics: end ##########