EKF: Always reset covariance matrix terms when doing vel pos state reset
EKF: Always reset covariance matrix terms when doing vel pos state reset

If state errors were large before the reset, then failure to reset the covariance matrix terms can result in incorrect fusion of position and velocity measurements after the reset due to inconsistencies in the covariance matrix.

PX4/ecl,PX4/ecl,PX4/ecl,PX4/ecl,PX4/ecl