Add discrete time versions of estimator state eqns.
Merge remote-tracking branch 'oliverlee/gainschd' into gainschd
Set estimate.w and estimate.has_w.
Always calculate steer rate, remove redundant data.

Move calculation of steer rate to ForkMotorController to record it for
every iteration, not only when the estimate is calculated. Remove
redundant fields in Estimator Message. Steer rate has been moved to
Encoder message.
Merge remote-tracking branch 'hazelnusse/gainschd' into gainschd

Conflicts:
	firmware/src/gain_schedule.cpp