MANAGE DATA FLOW FROM UAVCAN Equipment to Pixhawk

hello
I am using ZUBAX GNSS2 for external GPS, Compass and barometer

My request is about best “Publication interval” according to sensor for Pixhawk to ba as efficient as possible.

my understing is : more important should be sensor then lower should be Publication interval . don’t u think so ?

but what is most important bwn mag (for compass) , fix (for GNSS receiver? ) and pres (for barometer) ?

any idea ?