EKF2: reset position by fusion (#23279)

* reset position by fusion

* handle local_pos_valid for fixed wing in gnss denied

* [WIP] ekf2: setEkfGlobalOrigin respect current height reference and vertical position aiding

* global origin, also reset vertical pos without gps as ref

* fix wo gnss, that bitcraze ci passes

* revert some changes as requested

* remove duplicate reset messages

* undo unrelated whitespace changes, I'll fix it everywhere in a followup

* [SQUASH] ekf2: add vehicle_command_ack

* resetGlobalPosToExternalObservation consolidate logic

* remove gnss check from local_pos validation check

* reset when  0<accuracy<1, otherwise fuse

* replace gps param with flag

* ekf2: dead reckon time exceeded, respect ZUPT preflight if air data or optical flow expected

* subtract timeout from last inertial dead-reck, change fake pos conditions, save flash

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Co-authored-by: Daniel Agar <daniel@agar.ca>

src/modules/ekf2/EKF/ekf.h

@@ -501,7 +501,7 @@ public:
 		return true;
 	}
 
-	void resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, float accuracy, uint64_t timestamp_observation);
+	bool resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, float accuracy, uint64_t timestamp_observation);
 
 	void updateParameters();