Support BNO085, bring battery and sonar support in

[PaulBouchier]

This issue is to track introduction of several new features:

1. Add BNO085 support
2. Import battery support from @hippo5329 repo
3. Import sonar support from @hippo5329 repo

[PaulBouchier]

Add INA219 support from @hippo5329, since I can test it using the gendrv board