Primary node: Restore the original message transmission rates.
Primary node: Reformat code in PrimaryNode.c.
Fix for warning about mismatched const pointers.
Primary node: Removed variables now unused because MAVLink corruption is no longer being detected.
Primary node: Actuator commands are retransmit when the secondary controller is no longer active.
This lowers the latency of switching from the secondary controller back to the boat.
RC Node: Transmit a NODE_STATUS CAN message whenever the autonomous mode or disconnection state changes.
This should speed up the transition between controllers somewhat, as previously this state was only transmit at 2Hz, so it could be up to 0.5s after an event that the primary node would actually hear about it.