local_position_estimator: move to WQ and delete unused SubscriptionPollable

src/modules/local_position_estimator/sensors/sonar.cpp

@@ -109,7 +109,7 @@ void BlockLocalPositionEstimator::sonarCorrect()
 	// residual
 	Vector<float, n_y_sonar> r = y - C * _x;
 	// residual covariance
-	Matrix<float, n_y_sonar, n_y_sonar> S = C * _P * C.transpose() + R;
+	Matrix<float, n_y_sonar, n_y_sonar> S = C * m_P * C.transpose() + R;
 
 	// publish innovations
 	_pub_innov.get().hagl_innov = r(0);
@@ -138,10 +138,10 @@ void BlockLocalPositionEstimator::sonarCorrect()
 	// kalman filter correction if no fault
 	if (!(_sensorFault & SENSOR_SONAR)) {
 		Matrix<float, n_x, n_y_sonar> K =
-			_P * C.transpose() * S_I;
+			m_P * C.transpose() * S_I;
 		Vector<float, n_x> dx = K * r;
 		_x += dx;
-		_P -= K * C * _P;
+		m_P -= K * C * m_P;
 	}
 }