Few functions in ivas_orient_trk.c converted to fixed point

Functions converted:
[x]IdentityQuaternion
[x]ivas_orient_trk_SetTrackingType
[x]ivas_orient_trk_GetTrackedRotation
[x]ivas_orient_trk_GetMainOrientation
[x]Quaternion Normalise
[x]Quaternion Inverse
[x]VectorRotationToQuaternion
[x]ivas_orient_trk_SetReferenceVector

pytest results: 358 failed, 227 passed, 381 skipped

MLD:
Original: 7 cases > 5
8.623271 9.196089 9.304973 10.832478 10.853292 12.952374 22.458605

+10dB: 19 cases > 5
5.370934 5.663041 5.663041 6.287786 6.327793 6.992575 7.858168 10.755767 10.755767 11.334802 14.898525 16.604309 16.975687 19.35298 19.374039 19.761044 23.5809 27.03828 38.923706

-10dB: 5 cases > 5
5.965 6.009636 8.7374 15.85026 24.995966