State interface input filter (#3409)

* [generator] generate unique ID and names table for modules
* [state] add accessors for the state origin
* [state] don't access directly to state origin, use getters
* [state] filter inputs with module ID
* [ahrs] convert AHRS modules to state input filter
- selection of ahrs with settings from each module
- init functions for each ahrs modules
- remove old chimu
* update unit test
* [ins] decoupled INS implementation
To allow multiple INS at the same time:
- remove weak functions from ins.c
- remove the INS_TYPE_H define
- use ABI message to trigger INS reset
* [state] protect for c++

conf/modules/ahrs_common.xml

@@ -18,10 +18,7 @@
     <define name="USE_AHRS_ALIGNER"/>
     <file name="ahrs.c"/>
     <file name="ahrs_aligner.c"/>
-    <test>
-      <define name="PRIMARY_AHRS" value="ahrs_dcm"/>
-      <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_float_dcm_wrapper.h" type="string"/>
-    </test>
+    <test/>
   </makefile>
   <makefile target="sim">
     <define name="USE_AHRS"/>