[ahrs] int_cmpl_quat: scale the correction in update_accel with AHRS_CORRECT_FREQUENCY
Allow tuning of the rate and bias gains.
Scaling correction by AHRS_CORRECT_FREQUENCY should also give you
roughly correct tuning for 100Hz fixedwings, see #240.
[ahrs] int_cmpl_quat: lower correction from accel update
double gain scale to allow for a nicer range of the gains
[ahrs] int_cmpl_quat: some more adjustable correction gains
not tested in flight yet...
[ahrs] int_cmpl_quat: use signed integers for correction scaling
beware of the usual arithmetic conversions!!
[imu] default settings for navgo imu
[ahrs] int_cmpl_quat: always run FIR on pseudo_gravity_measurement
so it doesn't misbehave if you switch the gravity heuristic off in between
[ahrs] int_cmpl_quat: use linear instead of hyperbolic weight in gravity heuristic
[ahrs] int_cmpl_quat: turn on gravity heuristic by default
scaling rate with weight, scaling bias with weight*weight. accel filter parameters are now cut-off frequency and damping instead of gains. Defaults values set to 100 s response time.
merge with master
complementary filter accel and mag cutt-off frequency and damping in physical units, accel weight sent to telemetry
[ahrs] int_cmpl_quat: physical units

- accel and mag cutt-off frequency and damping in physical units
- accel weight sent to telemetry
Merge branch 'master' into ahrs_int_cmpl_quat_correction_scaling

get latest code for testing, relevant fixes from master:
- horizontal guidance fixes
- use normal stabilization subsystem in NPS, was always euler in NPS before
merge with paparazzi repo
feedback_frac corrected for both accel and mag correction, omega and zeta  nominal and min/max settings adjusted
[ahrs] int_cmpl_quat: feedback_frac corrected

- feedback_frac for both accel and mag correction
- omega and zeta  nominal and min/max settings adjusted
Merge branch 'master' into ahrs_int_cmpl_quat_correction_scaling

relevant fixes/features from master:
- don't bypass normal ahrs estimation in NPS by default
- use horizontal guidance ref by default (and for HOVER mode)
- abs(c_route) and abs(s_route) instead of abs(route) in north and east route components calculation
- guidance_h gains for Quad_LisaM_2 example
Merge branch 'ahrs_int_cmpl_quat_correction_scaling' of https://github.com/paparazzi/paparazzi into ahrs_int_cmpl_quat_correction_scaling
[ahrs] Complementary filter gains calculated with cut-off frequency and damping settings in physical units, scaled with sensors update frequencies, for integer and float filters
Merge pull request #448 from Drumettaz/ahrs_int_cmpl_quat_correction_scaling

Ahrs int cmpl quat correction scaling