Replay: fixed velocity vector
AP_NavEKF : clean up convoluted logic used in sensor health checks

This doesn't change the behavior, but does make the code easier to
understand
AP_NavEKF : Relax aliasing check limits
This reduces the chance of noisy data inhibiting GPS glitch protection
AP_NavEKF : Limit rate of Z accel bias adaptation

Aliasing can causes the bias estimate to fluctuate very rapidly as it try's to to keep
to keep up which degrades the filters ability to switch between
accelerometers if they are alternately affected. T

This patch give a much more stable bias estimate during aliasing, and
allows the bias to adapt at a maximum rate of 1.0 m/s2 in 50 seconds