runs
working world transform on live data
We are onto something. The covar fudge is probably wrong in all senses of it, but tuning for sensible mahalanobis seems like a good idea. We also dont know where the delayed easyness for newly reged plane to be associated comes from. Idea is to check P to see where the easy mahalanobis comes from.
Merge branch 'ekfVS' of https://github.com/proftom/QuadCopter into ekfVS

Conflicts:
	PCL/kalman.cpp