C Test Harness  : 21 state version (no accel bias states)
Derivations : 21 state derivation updated for C-code implementation
Merge branch 'master' of github.com:priseborough/InertialNav

# By Lorenz Meier
# Via Lorenz Meier (2) and Paul Riseborough (1)
* 'master' of github.com:priseborough/InertialNav:
  Ignoring input / output and temporary files
  Untangled interface from actual estimation code. Tried to not touch structure or variable names, just separated into different files
  Renamed C++ file a little more *nix friendly
Merge pull request #2 from LorenzMeier/master

Updated read me, added self-contained initialization
Change to a BSD 3 clause license

The objective of this work is to provide a resource in the area of inertial navigation that will encourage wide useage and contributions
Derivations : Adds airspeed and airspeed rate estimation
Merge branch 'master' of github.com:priseborough/InertialNav

# By Lorenz Meier (4) and Paul Riseborough (1)
# Via Paul Riseborough
* 'master' of github.com:priseborough/InertialNav:
  Change to a BSD 3 clause license
  Moved euler debug variables to mainloop, they are not part of the core estimator
  Commented required section back in
  Replaced the AHRS based init with a self-contained initialization for the sake of generality of the framework
  Updated readme for code to simplify execution of test environment
Derivations: 23 state derivation output files
Derivations: Added 22 state derivation which includes state for vert accel bias.
Derivations: Fixed bug in 22 state derivation
Merge branch 'master' of https://github.com/priseborough/InertialNav