[Bug] gz baro and gps noise models

[dakejahl]

Describe the bug

The SensorGpsSim and SensorBaroSim classes have noise models that are not representative of real world sensors.

To Reproduce

Takeoff and hover

make px4_sitl gz_x500

commander takeoff

Expected behavior

The GPS position/altitude signals should be smooth with some amount of random walk. The error between measurements should be correlated rather than random. Conversely the the baro signal should have high frequency random noise.

Example from a real aircraft

Screenshot / Media

From simulation

Flight Log

From simulation
https://review.px4.io/plot_app?log=ac14dddd-5006-448a-825a-1df397e83126

Software Version

main

Flight controller

sitl

Vehicle type

None

How are the different components wired up (including port information)

No response

Additional context

No response