Merge pull request #37 from fnoble/memory_pool_clear

Add function to clear memory pools
FLOAT KF: Remove the old float filter.
LINEAR ALGEBRA: Move eye and triu to linear_algebra and add unit tests.
LINEAR ALGEBRA: Move UDU decomp into LA and fix bug! Unit tests FTW.
Merge pull request #41 from fnoble/remove_old_kf

Remove old Kalman Filter
DGNSS: Remove parameters no longer needed, used by old KF.
Fixed making dd measurements, documented too