feat(ars548): hack to produce correct-looking objects for corner ars548 radars

[knzo25]

Continental's ARS548 is designed to be on the front/rear of the vehicle.
Rear corner radars have their performance reduced but the data seems ok (confirmed only visually).
However, front corner radars seem to ignore the yaw's configuration. This PR adds a temporal hack to correct the object positions, but will not correct vel/accel values.

PR Type

• Improvement

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 14 lines in your changes missing coverage. Please review.

Project coverage is 25.62%. Comparing base (77b4c6c) to head (de1ba74).
Report is 7 commits behind head on main.

Files with missing lines	Patch %	Lines
...ontinental/decoders/continental_ars548_decoder.cpp	0.00%	7 Missing and 1 partial ⚠️
...continental/continental_ars548_decoder_wrapper.cpp	0.00%	4 Missing ⚠️
...nental/continental_ars548_hw_interface_wrapper.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #249      +/-   ##
==========================================
- Coverage   26.11%   25.62%   -0.49%     
==========================================
  Files         100      104       +4     
  Lines        9214     9382     +168     
  Branches     2214     2222       +8     
==========================================
- Hits         2406     2404       -2     
- Misses       6419     6589     +170     
  Partials      389      389              

Flag	Coverage Δ
differential	25.62% <0.00%> (?)
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[mojomex]

Thanks for the PR!

Are the yaw angles beyond which this problem occurs known/documented or imperically found?
It would be good, since this is a hack, to

• print a warning to log when a hacky mounting angle is configured, or
• (preferably) publish a warning to diagnostics "velocity/accel may be incorrect due to unsupported mounting angle"

Nebula should have some way to make absolutely clear to the user that this is not to be used in safety critical situations.

[knzo25]

@mojomex
ping

[mojomex]

@knzo25 Code looks good to me - sorry, I reviewed it a few days ago but didn't submit the review.

@drwnz had some doubts whether this workaround should be in mainline Nebula, so I'd like to hear his opinion on the diagnostics approach too.
Until this becomes a firmware feature, I think it is a good compromise, and merging into mainline Nebula is best from a maintenance/support perspective.

[knzo25]

@YoshiRi
I will wait for David's opinion before merging, but this being added to Gen2 by default follows a timeline independent of this PR