AP_NavEKF: option to align extnav to optflow pos estimate #27487
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This is a cut-down version of PR #26632
This adds a new EK3_SRC_OPTION bit that allows "re-aligning" the External Nav position to the AHRS when optical flow is used (e.g. when External Nav is not used). Previously this re-alignment would only occur when using GPS or Beacons that provide an absolute position.
Re-aligning to the optical flow is useful when the ModalAI VOXL cameras (and perhaps other external nav systems) are paired with an optical flow sensor for backup. It means the pilot should not notice any position jumps when switching between the two sources.
This has been tested on real hardware and below are the before and after screenshots. During this testing the vehicle was first switched to use Optical Flow, the vehicle was then moved and switched to ExtNav. The "Before" image shows the position jump which is cause by optical flow drifting a bit compared to the VOXL camera. In the "After" we see there is no position jump because, while the optical flow was active, the VOXL's position was constantly being shifted to the optical flow based position.