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/simulator/simulator.h

@@ -273,14 +273,6 @@ private:
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 	px4::atomic<bool> _has_initialized {false};
-
-	int _ekf2_timestamps_sub{-1};
-
-	enum class State {
-		WaitingForFirstEkf2Timestamp = 0,
-		WaitingForActuatorControls = 1,
-		WaitingForEkf2Timestamp = 2,
-	};
 #endif
 
 	DEFINE_PARAMETERS(