EKF2: fusion always succeeds, do not return boolean

[bresch]

merge after #23577

Solved Problem

fuseDirectStateMeasurement and measurementUpdate are always returning true so we have a ton of unnecessary code to handle the return false case.

Solution

Change those functions to void and always assume that the fusion worked (because it always do).

Changelog Entry

For release notes:

-
New parameter: -
Documentation: -

Test coverage

unit tests

[dagar]

The only question I have is if we'd ever want to have additional checks (even optionally). Otherwise if you're sure, less is definitely better.

[bresch]

The only question I have is if we'd ever want to have additional checks (even optionally). Otherwise if you're sure, less is definitely better.

Currently I don't see why we would need to add any additional check at this stage. I haven't seen any issue so far with that Joseph update.

[dagar]

Some of these fault_status flags won't need to be set again, in most cases they're set/cleared earlier with the innovation variance check.

[bresch]

Yes, we should review how those flags are set and used. While doing this change I realized that their use is not consistent across aid sources.