Sb/ekf cleanup

[sh1shir]

made some cleanups for the EKF

• moved the rotation functions into a new file called rotation.h
• moved aerodynamic coefficients and thrust curves into a new file called aero_coeff.h to separate any non-KF functions

fixes to the rotation functions

• i think in GlobalToBody or the other one (i already forgot) there was an extra 0 in the yaw function, so technically it was the wrong size
• reduced the number of params to make it simpler

other nits