ekf2: perform GNSS checks at delayed-time horizon

- never fuse a measurement that is not passing the checks
- cleanup and simplify GNSS vel/pos control logic

src/modules/ekf2/test/sensor_simulator/gps.h

@@ -51,13 +51,13 @@ public:
 	Gps(std::shared_ptr<Ekf> ekf);
 	~Gps();
 
-	void setData(const gpsMessage &gps);
+	void setData(const gnssSample &gps);
 	void stepHeightByMeters(const float hgt_change);
 	void stepHorizontalPositionByMeters(const Vector2f hpos_change);
 	void setPositionRateNED(const Vector3f &rate);
-	void setAltitude(const int32_t alt);
-	void setLatitude(const int32_t lat);
-	void setLongitude(const int32_t lon);
+	void setAltitude(const float alt);
+	void setLatitude(const double lat);
+	void setLongitude(const double lon);
 	void setVelocity(const Vector3f &vel);
 	void setYaw(const float yaw);
 	void setYawOffset(const float yaw);
@@ -65,12 +65,12 @@ public:
 	void setNumberOfSatellites(const int num_satellites);
 	void setPdop(const float pdop);
 
-	gpsMessage getDefaultGpsData();
+	gnssSample getDefaultGpsData();
 
 private:
 	void send(uint64_t time) override;
 
-	gpsMessage _gps_data{};
+	gnssSample _gps_data{};
 	Vector3f _gps_pos_rate{};
 };