Indigo backports

[wjwwood]

Backporting:

• Check for odometry quaternion normalization before display #1139
• replace arial font with Liberation Sans #1141

[wjwwood]

Actually #1139 doesn't make sense (it didn't apply cleanly, but I tried to fix it up). I will drop it from the backports.

[dhood]

Oops, I didn't check if there'd been refactoring before putting the 'needs back port' label on 1139. I'll just put that label on trivial back ports in the future, yeah?

[wjwwood]

@dhood if you think the fix is worth the more complex back porting you're welcome to try and do it. I was just grabbing the trivial ones. It might be appropriate to put the label on non-trivial backports if they are important.