Publish attitude data to Sensor Hub

I’m trying to write a function that can read attitude data from external INS with tags like NMEA-0183 formation. I had read the code in src/drivers/gps/devices/src/nmea.cpp which describes how to parse the GPS NMEA-0183 tags and publish to flight contol. Is there any way or example to read attitude data in NMEA-0183 formation and publish it to flight control?