- reduces some code duplication
- provides clear API & separation for temp compensation

additional changes:
- added timestamp to sensor_correction topic
- reduced its publication rate, to only when voting index or scales or
  offsets change (if there is more than 1deg change in temperature)

Sync the attitude controller to the raw gyro data to remove the latency in the rate loops caused by the sensor and estimator modules.
Attitude data latency will increase as it will be from the previous EKF update, however attitude loops are less latency sensitive.
Thermal compensation and bias data will be from the previous frame.

Removes Iridium SBD support

Required to use driver class instance as surrogate sensor ID

TODO - use unique HW ID

TODO - use unique HW ID

TODO - use unique HW ID

TODO - use unique HW ID

Also improve documentation

This allows future use with baro sensors that require a higher fit order

Populate with zeros.
TODO provide estimate.