Extended Kalman Filter initialisation PositionNorth PositionEast PositionDown VelocityNorth VelocityEast VelocityDown AttitudeQ1 AttitudeQ2 AttitudeQ3 AttitudeQ4 GyroDriftX GyroDriftY GyroDriftZ GyroX GyroY GyroZ AccelX AccelY AccelZ GyroDriftX GyroDriftY GyroDriftZ GPSPosNorth GPSPosEast GPSPosDown GPSVelNorth GPSVelEast GPSVelDown MagX MagY MagZ BaroZ FakeGPSPosIndoor FakeGPSVelIndoor FakeGPSVelAirspeed