Tracking down gps ekf bug, not enough precision for GPS in rad.
Changing measurement units for gps, not working well yet.
Fault detection working, but GPS velocity measurement causing fault.

Possible error in HIL script or progpagation/ F matrix of EKF.
Merge branch 'master' of git://github.com/PX4/Firmware into fault_detection
Merge branch 'master' of git://github.com/PX4/Firmware into fault_detection
Merge branch 'fault_detection' of github.com:jgoppert/Firmware into fault_detection
Increased KF process noise.
Working on fault detection tolerances.
Added param comments for FWB controller.
Merge branch 'master' of git://github.com/PX4/Firmware into fault_detection
Added P0. Hid some printing. Corrected fault detection.
Adding comments to ekf.
Fixed param issue.
Added mag dip/dec as parameters.
Enabled kf to run w/o gps.
Added check for valid attitude data.
Made fault tolerances adjustable.
Slowed HIL status updates. Also prevented posCor. when gps not init.
Refactored RPos. Increased global pos output rate for debugging.
Reducing pos/att correction update rates for debugging.