TauLabs/TauLabs — pull request #894 by peabody124 (2013-08-24 14:59:18+00:00)
Title: Complementary Filter: do not require home location

If home location is set, then use real mag. If not, then just
assume (1,0,0). This isn't a problem since only the z rotation
is preserved, so declination doesn't matter.