- Modified mag calibration to be performed before rotation
- Updated frequency for altitude calculations
- Upped frequency of navigation (ahrs) processing and imu processing to match at 100 hz
- Changed gains for ahrs. (why did I do this?) To improve the 'settling' time for the 'roll' value.  This has the down side of making it more vulnerable to linear acceleration, but the roll was taking like 10 seconds to settle before, not its less than 3.  Before the settling time was unacceptable.
- Took cross product of accel and magnetometer rather than of dcm matrix and magnetometer.  This reduced the gyroscope modifying the yaw value.  --- Undid this. - this made the simulator totally unstable for some reason.
- Added fake Z magnetometer value based on magnitude of earths field because my magnetometer seems to be bad.