Added transformation from vehicle body to world which directly carries the vehicle's position and orientation in the world. Added this transformation plus tracking status to the front end monitor for access by system. Cleaned up the front end logic for propagating new tracking information (removed a redundant callback). Updated quaternion logic to ensure first element is positive (not necessary, but easier to read). Changed Swarm output from Euler angles to quaternions. Changed bHasTracking in Swarm and Mikrokopter to nTrackingStatus to reflect change to integer status bit-field. Added user parameters for position and rotation of the camera relative to the vehicle body frame. Added a user flag in settings.cfg to enable/disable searching for a fiducial marker to set world origin.