ekf2: improve attitude estimation without horizontal aiding

- fake_pos only if at rest or tilt variances becomes large
 - fake pos: don't run when grav fusion is enabled
 - gravity fusion enabled by default
 - gravity: only fuse when accel norm and lpf norm are consistent

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

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

@@ -63,289 +63,289 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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