AP_AHRS : set NavEKF staticMode using call to set_correct_centrigual
Plane : disable AHRS centrifugal corrections when disarmed
AP_AHRS: make set_correct_centrifugal virtual
AP_AHRS_NavEKF: override set_correct_centrifugal
AP_NavEKF: make params public so they can be tuned
AP_AHRS_NavEKF: expose non-const EKF for tuning
Copter: allow ch6 tuning of EKF
AP_NavEKF: update params for copter
AP_NavEKF : Added Z accel bias state and bootstrap initialisation method
AP_NavEKF : Changes to test harness to support accel bias states
AP_AHRS : EKF initialisation changed to use bootstrap method
AP_TECS : Use NavEKF height and height rate data if available
DataFlash : Added logging of NavEKF innovations and variances
Copter: fixed non-EKF copter build
AP_NavEKF: fixed merge error that inverted static mode
AP_NavEKF: changed sqrt to sqrtf
AP_NavEKF: Added pitch and roll inertial sensor to body trim adjustment
AP_NavEKF: allow initialisation before GPS lock to aid indoor testing
AP_NavEKF: Adjusted tuning parameters for plane use
AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight