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