Add support for time synchronisation with FCU

This PR adds timesync support. I've finished FCU implementation, but needs testing and hotfix if needed.
@vooon Please go through this, and let me know.

To use the offset anywhere else, simply subscribe to the mavros/time_offset topic and add this offset to time_boot_ms of incoming mavlink messages.

Kabir
Why not to place this in `if (dt...)`? Don't see use of companion_reboot above.