Merge remote-tracking branch 'lorenz/master'
Merge remote-tracking branch 'paul/master'
on reset use projected gps position instead of [0,0,0] to set position state
correctly initialize fusionModeGPS variable
Merge pull request #7 from thomasgubler/posinit

on reset use projected gps position instead of [0,0,0] to set position state
Merge pull request #8 from thomasgubler/fusionmodegpsinit

correctly initialize fusionModeGPS variable
Update estimator, improve reset logic
Add reset tests in test harness
Teach test harness how to test for NaN values in states as well