ekf2: change delta angle and delta velocity bias states to accel and gyro bias (#21901)

* ekf2-test: remove outdated codegen comparison

The definition of states changed so the comparison with the old
derivation cannot work anymore.

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Co-authored-by: bresch <brescianimathieu@gmail.com>

src/modules/ekf2/EKF/gps_yaw_fusion.cpp

@@ -126,7 +126,7 @@ void Ekf::fuseGpsYaw()
 		// A constant large signed test ratio is a sign of wrong gyro bias
 		// Reset the yaw gyro variance to converge faster and avoid
 		// being stuck on a previous bad estimate
-		resetZDeltaAngBiasCov();
+		resetGyroBiasZCov();
 	}
 
 	// calculate the Kalman gains