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Ifdefed out deadcode in position_estimator_inav_main.c as the deadcode does not compile for qurt. Added fixes to get a successful build for posix-arm and qurt targets. Removed CLOCK_REALTIME def from px4_time.h for qurt and removed unused variables in att_est_q and mc_att_control. Signed-off-by: Mark Charlebois <charlebm@gmail.com>