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* EKF: Enable GPS flight without magnetometer Enables takeoff in a non-GPS flight mode with mag fusion type set to MAG_FUSE_TYPE_NONE. After sufficient movement the EKF will reset the yaw tot he EKF-GSF estimate. After that GPS fusion will commence. * EKF: Fix unconstrained yaw and yaw variance growth when on ground * EKF: Ensure first yaw alignment can't be blocked * EKF: Increase yaw variance limit allowed for alignment Flight test data indicates that an uncertainty value of 15 deg still provides a reliable yaw estimate and enables an earlier alignment/reset if required. * EKF: Remove unexecutable code * EKF: Restructure heading fusion * EKF: parameterise quarter variance check and retune default value * EKF: Pass by reference instead of pointer * EKF: Clarify reset logic * EKF: Remove incorrect setting of mag field alignment flag * EKF: Non-functional tidy up * EKF: Fix non-use of function argument The updateQuaternion function was using the _heading_innovation class variable instead of setting it using the innovation argument. * EKF: Fix undefined variable * EKF: Use single precision atan2 * EKF: remove unnecessary timer reset and unwanted execution of reset function * EKF: Don't declare a mag fault when non-use is user selected Doing so produces unnecessary user alerts.