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* EKF: Use common rate vector calculation for offset corrections * EKF: Remove duplicate matrix entry calculations * EKF: Create a EKF-GSF yaw estimator class * EKF: add emergency yaw reset functionality * EKF: remove un-used function * EKF: Ensure required constants are defined for all builds * EKF: Fix CI build error * Revert "EKF: remove un-used function" This reverts commit 93005309c7f3794414ad99c86218b3062e00bbd3. * EKF: Replace in-lined Tait-Bryan 312 conversions with function call Also remove unnecessary operations * EKF: Remove unnecessary update of external vision rotation matrix * EKF: Use const * EKF: use const * EKF: don't use class variable as a temporary variable * EKF: update comments * EKF: Improve efficiency of yaw reset Use conversion from rotation matrix to Euler angles instead of quaternion to euler angles. * EKF: use const * EKF: remove un-used struct element * EKF: more descriptive function name * EKF: use existing matrix row operator * EKF: remove unnecessary rotation matrix update * EKF: Use square matrix type * EKF: Improve protection for bad innovation covariance * EKF: Use matrix library operations * EKF: Replace memcpy with better alternative memcpy bypasses compiler sanity checks and is unnecessary in this instance. * EKF: Split EKF-GSF yaw reset function Adds a common function to support yaw reset that can be used elsewhere. * EKF: Use common function for quaternion state and covariance yaw reset * EKF: Replace inlined matrix operation * EKF: Use const * EKF: Change accessor function name * EKF: Use const * EKF: Don't create unnecessary duplicate variable locations * EKF: Remove duplicate covariance innovation inverse * EKF: Don't create unnecessary duplicate variable locations * EKF: Rely on geo library to provide gravity * EKF: Improve protection from bad updates * EKF: Reduce effect of vibration on yaw estimator AHRS * EKF: Improve yaw estimator AHRS accuracy during manoeuvre transients