Use the data which has been filtered by the integrator for the
instantanous values instead of only 1 out of 32 samples.

This is to better support estimators and modules other than ekf2 which
uses the integrated gyro/accel values anyway.

Instead of only being able to get the integral and its integration time,
it can also be handy to get the integral divided/differentiated by the
the integration time. This data is then just filtered by the integrator.

USEC2TICK was not found.

Since the vehicle_status topic has been split up, we can't publish it
together with the the split cpuload and commander_state topics.

Therefore, the log field STAT.MainState will change to COMM.MainState
because it is only the internal commander state. Important to the
outside is STAT.NavState.

Likewise, the log field STAT.Load becomes LOAD.CPU.

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.