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Fix iOS AHRS filter init, mag heading, rest, and ZUPT - #1

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cursor/ios-ahrs-filter-fixes-daba
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Fix iOS AHRS filter init, mag heading, rest, and ZUPT#1
dpyeates wants to merge 14 commits into
mainfrom
cursor/ios-ahrs-filter-fixes-daba

Reset uNavINS in place; it is not copy-assignable

94c1352
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