AP_NavEKF3: To make decisions and flag settings clear #603

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Run time

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Job	Run time
build (navio, armhf)	3m 37s
build (navio2, armhf)	3m 55s
build (bbbmini, armhf)	4m 26s
build (bhat, armhf)	3m 52s
build (bebop, armhf)	3m 52s
build (erlebrain2, armhf)	3m 39s
build (pxfmini, armhf)	3m 57s
build (pxf, armhf)	3m 54s
build (canzero, armhf)	4m 23s
build (navigator, armhf-musl)	2m 21s
build (linux, base)	5m 23s
	43m 19s