EKF2: ev fusion in body frame

[haumarco]

Solved Problem

Currently while fusing external vision odometry pipelines which output the measurement in the body frame, The measurement gets transformed into the EKF local frame and fused as a direct state measurement. This massively skews the estimated gaussian noise which leads to suboptimal fusion results.

Solution

• Added new Jacobian derivations for fusing body velocities
• Adjusted EV control pipeline for this case

Test coverage

• Unit tests pased
• Simulation test: Simulation flights with gz_x500_vision