This reverts commit aac9a584aa5fa26ea93d7583305c44d50608ecfa.

In SITL and on Snapdragon, the logging performance is high enough, so we
can log both: the usual topics, as well as the ekf2 replay fields.

Note that the ekf2 replay still needs to be enabled via param.

- __BEGIN_DECLS is for declarations not definitions
- getprogname() declaration is in err.h

Useful to test maximum sequential write speed to the SD Card

It seems that the stack size was exhausted on Snapdragon.

removes use of vehicle arm status message

Remove unused gyro scale factor parameter
Change gyro and accelerometer bias noise parameters to more intuitive units
Updated tuning defaults

Numerous EKF updates for improved accuracy and stability