Enable yaw rate noise injection

[jakebonney10]

The yaw-rate noise parameter is currently ignored: calls in resample_noise() are commented out and the default parameter value is zero. As a result, users who tweak the yaw-rate noise setting see no effect.

Impact:

Misleading API and potentially poor performance.

Suggested fixes:

• Restore yaw-rate noise application in the resampling step and set the default noise very low, or
• Remove the yaw-rate parameter entirely (and associated code), updating documentation accordingly.