This PR adds support for data storing/logging while constantly sending PID control updates. The initial idea was to run it in concurrent threads, but this introduced same problems, and currently is solved by adding a simple waiting if statement, triggered every once in a while in the loop (may be moved to multithreading still later). It also restructures the Pubsub topic architecture (new diagram to be uploaded later to README). It also adds PID analysers.
Description
This PR adds support for data storing/logging while constantly sending PID control updates. The initial idea was to run it in concurrent threads, but this introduced same problems, and currently is solved by adding a simple waiting if statement, triggered every once in a while in the loop (may be moved to multithreading still later). It also restructures the Pubsub topic architecture (new diagram to be uploaded later to README). It also adds PID analysers.
Continuation of the #52 PR.
Issues
Closes #39 Works towards #40