ekf2: minor position/velocity reset cleanup

- try to use avoid resetVelocity() call where possible
 - reset timeouts centrally

src/modules/ekf2/test/change_indication/iris_gps.csv

@@ -103,249 +103,249 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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