Added optional transmit channel for raw lighthouse data

[jdavidberger]

This change allows one to set a parameter and start streaming off the raw light data. This is slightly different and in a more raw state than the port and channel which transmits angle data. It is also packed in such a way to allow two full frames of light data per packet, so in theory a single lighthouse will consume ~50p/s.

The transmit is non blocking, so if the bandwidth is there it works and if it isn't, it just moves on to the next without endangering the stability of on-board tracking. The computational overhead should also pretty insignificant at these data rates.

I have a branch in libsurvive that has the receiver logic for reference.

[knmcguire]

There are some checks that are failing so you might want to take a look at that.

On the first sight, this seems to be fine! But I also want @ataffanel to look at this, who will be back next week.

[ataffanel]

Hi, Sorry for the delayed review, this looks great I am merging it, thanks!

Do you by any change have a simple python script showing how to use this new functionality that we could put in the python lib example folder?

[jdavidberger]

Not right not but possibly later. I need to merge the libsurvive in; and then potentially update the pysurvive bindings -- currently they are autogenerated and I think I need to update how that all works.