ekf2 move to WQ with uORB callback scheduling

[dagar]

Requires #12207 before merging.
Background - #12207

[Junkim3DR]

Tested on Pixhawk 4mini v5:

Modes Tested

• Position Mode: Good.
• Altitude Mode: Good.
• Stabilized Mode: Good.
• Mission Plan Mode (Automated): Good.
• RTL (Automated): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
PR 12227

• https://review.px4.io/plot_app?log=ca8748ab-06b9-4f1d-8036-48b7a47b9ef5

Master

• https://review.px4.io/plot_app?log=86a79be0-549e-4d83-a8af-ad2a5f2b6c88

[Junkim3DR]

Tested on Pixhawk 2 Cube v3:

Modes Tested

• Position Mode: Good.
• Altitude Mode: Good.
• Stabilized Mode: Good.
• Mission Plan Mode (Automated): Good.
• RTL (Automated): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
PR 12227

• https://review.px4.io/plot_app?log=d7706275-31e2-408a-b738-b38450b2f4b9
• https://review.px4.io/plot_app?log=3cc352d8-124d-439c-af40-0ac09f5ca8f5

Master

• https://review.px4.io/plot_app?log=8b9e00d5-a35f-4977-a4fc-593fd15eb437
• https://review.px4.io/plot_app?log=51633fe4-de43-491b-ba79-506af5d3cdb4

[jorge789]

Tested on PixRacer V4:

Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL (Automated): Good.
Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
PR 12227
https://review.px4.io/plot_app?log=07aa3a4f-3b28-4434-a170-a3c49d57d86c

Master:
https://review.px4.io/plot_app?log=d8565407-cab5-43f6-9abc-5cfcea1b4fcf