GEO lib projection changes / updates

This is now harmonized. @DrTon Please review - it now retains the interfaces you wanted.
In general the map projection origin has not to be equal to the home position. My proposal is that the commander handles the projection initialization which then can be used by all estimators. Or we have to allow the initialization from other apps as well. However, there should be always only one reference which can be used by all apps with the library call.