activity now debugable

filter is updated every step and every 1000 ms an evaluation is calculated
also added sink or swim method from frank, works great

nav/mesh/NavControllerMesh.h

@@ -68,7 +68,7 @@ namespace MeshBased {
 		/** called when any sensor has received new data */
 		void gotSensorData(const Timestamp ts);
 
-	//	void debugActivity(const ActivityData& activity);
+        void debugActivity(const ActivityData& activity);
 
 		/** particle-filter update loop */
 		void filterUpdateLoop();
@@ -79,6 +79,9 @@ namespace MeshBased {
 		/** perform a filter-update (called from a background-loop) */
 		void filterUpdate();
 
+        /** perform a filter-update only with estimation (called from a background-loop) */
+        void filterUpdateEstimationOnly();
+
 		/** UI update loop */
 		void updateMapViewLoop();