Copter: update pose and lift plugin

[srmainwaring]

Update pose following:

• https://github.com/ArduPilot/ardupilot_gazebo/pull/68

Ensure <cma> element is set to zero in LiftDrag plugin following:

• https://github.com/gazebosim/gz-sim/pull/2189

Other changes

• Make runway orientation consistent with example in ardupilot_gazebo.

[srmainwaring]

@Ryanf55 - now that

• https://github.com/ArduPilot/ardupilot_gazebo/pull/68
• https://github.com/gazebosim/gz-sim/pull/2189

have been merged, this needs to be merged to fix the gimbal offset. Most of the changes are formatting, the key one is

https://github.com/ArduPilot/ardupilot_gz/blob/5dd327234319f720c8614c89d83f51775921a6e6/ardupilot_gz_description/models/iris_with_lidar/model.sdf#L286-L287

If you can approve please, I'll merge.