* prepare code for multi-scale camera object detection

* add constexpr for const value

* change yolo detecto config for new multi-scale code

planning: fail pull-over sonner based on path_data, and add a temp stop fence so that adc can be paused at a better position

Planning: switch to iterative anchoring smoother and do replanning time only when fallback for testing

This reverts commit 4be98f1e.