EKF3: allow earth-frame fields to be estimated with an origin but no GPS #37312

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Run time

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Job	Run time
build (navio, armhf)	10m 30s
build (navio2, armhf)	10m 12s
build (bbbmini, armhf)	11m 9s
build (bhat, armhf)	11m 4s
build (bebop, armhf)	10m 35s
build (erlebrain2, armhf)	10m 43s
build (pxfmini, armhf)	10m 14s
build (pxf, armhf)	10m 31s
build (canzero, armhf)	10m 44s
build (navigator, armhf-musl)	5m 23s
build (linux, base)	11m 14s
	1h 52m 19s