Added matrix for EKF in simulated swarmies and changed some parameters
Added matrix for EKF in simulated swarmies and changed some parameters

Suggest teams tune the matrixes heavly
They will be added shortly for physical as well

BCLab-UNM/SwarmBaseCode-ROS,BCLab-UNM/SwarmBaseCode-ROS,BCLab-UNM/SwarmBaseCode-ROS,BCLab-UNM/SwarmBaseCode-ROS,BCLab-UNM/SwarmBaseCode-ROS,BCLab-UNM/SwarmBaseCode-ROS