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Yaw/Altitude estimation sensor fusion #4070

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Job	Run time
build-SITL-Linux	45s
build-SITL-Windows	4m 4s
build-SITL-Mac	1m 46s
build (0)	14m 27s
build (1)	13m 58s
build (2)	15m 31s
build (3)	14m 38s
build (4)	18m 55s
build (5)	14m 27s
build (6)	15m 28s
build (7)	13m 45s
build (8)	13m 26s
build (9)	14m 1s
test	47s
	2h 35m 58s