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/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",