Add support for UBX protocol >23.01

[ke5gdb]

Changes made:

• Checks for UBX protocol version (assumes <=23.01, leaving old config methods intact)
• Adds support for NAV_PVT message in rx_loop due to other messages being unavailable in >23.01
• Configures USB and UARTs for UBX protocol -- with I2S addition, Pi UART is available for GPS

Tested on:

• MAX-M10S
• ZED-F9P
• GT-U7 (identifies as standard 7-series)
• NEO-6M

This has not yet been flight tested, but all values read back (particularly dynamic model) indicate that it should be OK. I'll be flight testing this with the MAX-M10S in the coming months.