AP_Math: added quaternion normalization
AP_Math: make to_euler() const
autotest: a useful CMAC test pattern from Paul
autotest: kill off lt-JSBSim too

on some systems it gets this name
DataFlash: added Columns column to FMT
AP_Airspeed: added last_update_ms() interface
AP_NavEKF: Inertial Navigation Code - 24 State EKF

initial version converted from matlab
AP_NavEKF: Updated GPS input processing
AP_NavEKF: Updated measurement fusion control
AP_NavEKF: Corrected height update timeout error
AP_NavEKF: Added constructor for measurements
AP_NavEKF: Updated measurement references
AP_NavEKF: fixed build for APM environment
Plane: added NavEKF object
AP_NavEKF: Explicitly defined numerical constants as single precision using f suffix
AP_NavEKF: Updated comments in header file
AP_NavEKF: initial test sketch for NavEKF
AP_NavEKF: added dataflash log reader

this gives log playback into HIL
AP_NavEKF: added euler angle functions
AP_NavEKF: try running EKF on log data