bugfix euler2dcm
bugfix euler2dcm

Changed r13 component in the R matrix from cos(psi)*sin(upsilon) to cos(alpha)*sin(upsilon) - reference book Bruno Siciliano
jeljaik/extended-kalman-filter,jeljaik/extended-kalman-filter,jeljaik/extended-kalman-filter,zmxu/extended-kalman-filter,zmxu/extended-kalman-filter,zmxu/extended-kalman-filter,zmxu/extended-kalman-filter,jeljaik/extended-kalman-filter,jeljaik/extended-kalman-filter,zmxu/extended-kalman-filter