Support for INSWHEELUPDATE, SETWHEELPARAMETERS, and WHEELVELOCITY

[JWhitleyWork]

This is related to #12. The INSWHEELUPDATE and SETWHEELPARAMETERS messages must be sent to the receiver in order to support injecting wheel velocity information into the SPAN solution. This is super useful for reducing drift while without a GPS signal. Once these are set, the WHEELVELOCITY message can be published to provide the cumulative number of ticks that have passed.