sitl: use lockstep components API

- avoids the need for ekf2_timestamp publications by q and lpe
- adds logger to the lockstep cycle and makes it poll on ekf2_timestamps
  or vehicle_attitude. This avoids dropped samples (required for replay).

src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp

@@ -35,7 +35,6 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/estimator_status.h>
 #include <uORB/topics/estimator_innovations.h>
-#include <uORB/topics/ekf2_timestamps.h>
 
 using namespace matrix;
 using namespace control;
@@ -112,7 +111,7 @@ class BlockLocalPositionEstimator : public ModuleBase<BlockLocalPositionEstimato
 public:
 
 	BlockLocalPositionEstimator();
-	~BlockLocalPositionEstimator() override = default;
+	~BlockLocalPositionEstimator() override;
 
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
@@ -287,7 +286,6 @@ private:
 	uORB::PublicationData<vehicle_global_position_s> _pub_gpos{ORB_ID(vehicle_global_position)};
 	uORB::PublicationData<vehicle_odometry_s> _pub_odom{ORB_ID(vehicle_odometry)};
 	uORB::PublicationData<estimator_status_s> _pub_est_status{ORB_ID(estimator_status)};
-	uORB::PublicationData<ekf2_timestamps_s> _pub_ekf2_timestamps{ORB_ID(ekf2_timestamps)};
 	uORB::PublicationData<estimator_innovations_s> _pub_innov{ORB_ID(estimator_innovations)};
 	uORB::PublicationData<estimator_innovations_s> _pub_innov_var{ORB_ID(estimator_innovation_variances)};
 
@@ -338,6 +336,8 @@ private:
 	uint64_t _time_last_land;
 	uint64_t _time_last_target;
 
+	int _lockstep_component{-1};
+
 	// reference altitudes
 	float _altOrigin;
 	bool _altOriginInitialized;