msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge

- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)

src/modules/ekf2/EKF/mag_fusion.cpp

@@ -50,7 +50,7 @@
 
 #include <mathlib/mathlib.h>
 
-bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source_3d_s &aid_src_mag, bool update_all_states)
+bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bool update_all_states)
 {
 	// XYZ Measurement uncertainty. Need to consider timing errors for fast rotations
 	const float R_MAG = sq(fmaxf(_params.mag_noise, 0.0f));
@@ -223,7 +223,7 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source_3d_s &aid_src_mag, b
 }
 
 // update quaternion states and covariances using the yaw innovation and yaw observation variance
-bool Ekf::fuseYaw(const float innovation, const float variance, estimator_aid_source_1d_s& aid_src_status)
+bool Ekf::fuseYaw(const float innovation, const float variance, estimator_aid_source1d_s& aid_src_status)
 {
 	aid_src_status.innovation = innovation;