AP_AHRS: make set_correct_centrifugal virtual
AP_AHRS_NavEKF: override set_correct_centrifugal
AP_NavEKF: static mode true by default
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