vscode debug and ekf2 replay improvements

- create new px4_sitl_replay config specifically for replay
 - ekf2 replay don't launch gazebo
 - add px4_sitl_test cmake variant
 - px4_sitl_test bring into sync with px4_sitl_default
 - vscode replace hard coded build path with cmake setting

.vscode/cmake-variants.yaml

@@ -6,6 +6,16 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_replay:
+      short: px4_sitl_replay
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_replay
+    px4_sitl_test:
+      short: px4_sitl_test
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_test
     px4_fmu-v2_default:
       short: px4_fmu-v2_default
       buildType: MinSizeRel
@@ -46,6 +56,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: av_x-v1_default
+    holybro_durandal-v1_default:
+      short: holybro_durandal-v1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_durandal-v1_default
     intel_aerofc-v1_default:
       short: intel_aerofc-v1_default
       buildType: MinSizeRel
@@ -66,8 +81,3 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_fmuk66-v3_default
-    holybro_durandal-v1_default:
-      short: holybro_durandal-v1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_durandal-v1_default

.vscode/settings.json

@@ -21,7 +21,7 @@
                         "${workspaceFolder}/test_data"
                 ],
                 "stopAtEntry": false,
-                "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
+                "cwd": "${command:cmake.buildDirectory}/tmp",
                 "environment": [
                         {
                                 "name": "PX4_SIM_MODEL",