[GS, ARP] New entrypoint for lyra_gs and ARP related things

ARP changes from automated antennas and lyra GS code for the Groundstation.

This merge is thought to make the life of @emilio.corigliano easier on GS, thus of high priority for EuRoC 2024.

Tasks left to do before merging following:

• merge boardcore and point to main here
• make sure that the last few commits do not break things (just to make a double check)

Contact either( @federico.lolli) or @niccolo.caruso in case you need assistance.