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   Implements a DC motor detection filter. Uses Euler integration.
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   Form:
   [r, xDF] = DetectionFilter( y, v, dT, xDF, alpha, beta, tau )
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   Inputs
   ------
   y              (2,1)  Measurement vector [theta;omega]
   v              (1,:)  Motor input voltage
   dT             (1,1)  Time step (sec)
   xDF            (2,1)  State estimate [theta;omega]
   alpha          (1,1)  Motor input constant
   beta           (1,1)  Motor rate constant
   tau            (1,1)  Filter time constant

   -------
   Outputs
   -------
   r              (2,1)  Residuals [theta;omega]
   xDF            (2,1)  State estimate [theta;omega]

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