A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).
Set conservative defaults as a baseline for tuning
Add a missing parameter for magnetometer observation noise.
Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise).
Update documentation and display names for consistency.
Daniel Agar