UAVCAN Moving Baseline Working

Set uavcan publisher priorities

Switch to ardupilot rtcm message and add heading accuracy

msg/gps_inject_data.msg

@@ -1,6 +1,9 @@
 uint64 timestamp		# time since system start (microseconds)
-uint8 len			# length of data
-uint8 flags         		# LSB: 1=fragmented
-uint8[182] data		# data to write to GPS device (RTCM message)
+
+uint32 device_id                # unique device ID for the sensor that does not change between power cycles
+
+uint8 len                       # length of data
+uint8 flags                     # LSB: 1=fragmented
+uint8[300] data                 # data to write to GPS device (RTCM message)
 
 uint8 ORB_QUEUE_LENGTH = 8

msg/sensor_gps.msg

@@ -38,3 +38,4 @@ uint8 satellites_used		# Number of satellites used
 
 float32 heading			# heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
 float32 heading_offset		# heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
+float32 heading_accuracy	# heading accuracy (rad, [0, 2PI])