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dad2419b21
Miscellaneous bug fixes and improvements including: More conservative reporting of velocity and position accuracy when aiding is lost Separate reporting of accuracy for local and global position Detection and recovery from badly conditioned accel bias states and covariance values Logic to prevent high manoeuvre levels causing bad acceleration bias learning Reduce sensitivity of covariance prediction to timing jitter Continue reporting of GPS quality until the later of airborne or checks pass Add ability to perform wind estimation for multi-rotors using a specific force drag model