Fix the state update in the prediction step of the EKF#162

Merged

ataffanel merged 3 commits intobitcraze:masterfrom estromb:EKF_fix

Nov 29, 2016

+27-13

Commits on Nov 18, 2016

Add tmp variables for state in prediction update in order not to overwrite previous time step while updating
estromb
committed
Change variables pertaining to state update in predict to static
estromb
committed

Commits on Nov 21, 2016

Apply same overwrite fix to else-clause as well
estromb
committed