Cleaned formatting and explicitly defined numerical values and trig operators as floats
Merge branch 'NavEKF-wip' of github.com:priseborough/ardupilot into NavEKF-wip

* 'NavEKF-wip' of github.com:priseborough/ardupilot:
  Formatting Fixes
  explicitly defined numerical constants as floats
  replaced cos with cosf
  Fixed compile error
  Explicitly defined numerical constants as single precision using f suffix