[17:50:51] Felix Ruess: @Christophe, not sure... using the state interface if you already have it directly available in the ins state is an extra overhead...
And also there is a distinction between sending the current INS state and the current pose/vel/accel that is used for the system in the state interface.
At least in the future it would be nice if you could have multiple sources (INS, vicon, gps, whatever..) and could downlink each of those separately... then you select which one you actually want to use at a given time and that is then "posted" to the state interface.
[17:53:02] Felix Ruess: So IMHO if there isn't a specific need to use the state interface instead of the ins variables directly it is better to keep it as is...
But if this means that extra variables need to be added to a different ins only to make telemetry work, I guess it's better to use the state interface there...
[17:54:07] Felix Ruess: But maybe also make one local copy and then use that instead of having the function calls for each element. That would make sure the data is consistent and have less overhead (at the expense of a temporary).
[17:55:57] Felix Ruess: In any case that is not well done in the telemetry part... hopefully we can change that (and getting rid of these macros) together with the new messages