Add EK2 pos/vel addaptative params when using RTK

Using RTK, it will be perfect that EK2 adapt automaticly it's param's as VEL/POS NOISE/GATES + alt source following RTK GPS status was in single / float / integer

Start by locating the EK2 parameter handling and the code that exposes RTK GPS status as single, float, or integer. Determine the intended velocity/position noise, gate, and altitude-source changes for each status, then define tests or flight-validation criteria showing that the parameters adapt correctly.

Written by the indexing model from the issue text.