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* EKF: Improve covariance prediction stability Eliminates collapse of vertical velocity state variance due to rounding errors that can occur under some operating conditions. * EKF: Fix typo * test: Fix initialisation test cases Provide sufficient time for variances to stabilise and fix calculation of reference quaternion for alignment. * test: Allow for accumulated rounding error in IMU sampling test * test: Allow sufficient time for quaternion variances to reduce after initial alignment * test: Increase allowance for tilt alignment delay and inertial nav errors * test: Increase allowance for tilt alignment delay and inertial nav errors * adpat reset velocity test * test: update change indication file * test: Adjust tests to handle alignment time and prediction errors * README.md: Add documentation for change indicator test