[math] more cleanup, e.g. rmat_[transp]_vmult

for consistency always call the fuctions x_rmat_[transp]_vmult,
FLOAT_RMAT_VECT3_MUL and FLOAT_RMAT_VECT3_TRANSP_MUL are removed.
[math] some dox updates
[airborne] use math functions instead of macros

sed to the rescue:
find sw -path sw/airborne/math -prune -o -name "*.[ch]" -exec sed -i 's/\([ ]*[A-Z0-9_]*QUAT_OF[A-Z0-9_]*(\)\([a-zA-Z0-9_]*,[ ]*\)\([a-zA-Z0-9_]*)\)/\L\1\E\&\2\&\3/g' {} +
and so on...
[math][ins] rewrite/move some math to ins_float_invariant

- use float_quat_vmult instead of FLOAT_QUAT_RMAT_B2N|N2B
- use float_quat_derivative instead of float_quat_vmul_left