Make a pass on standardizing messages

It has been a while since we added new standard payloads and with the flight controller + external projects I think we can:

1. Catalog "private" messages
2. Select the ones that make sense to standardize (like pointclouds for lidars and co.)
3. Discuss the formats with the community quickly to see if we don't miss something
4. Move the task(s) to the new format and move the message to the payload subtree in the repo