implemented Kalman filter as state estimator, but position is converging very slowly and causes oscillations in x, y and z direction

safecontroller works fine. still an issue with outYaw cause it overshoots - check comment in safecontroller code. safetycheck for localArea implemented and adjusted - switchoff if out of bounds.

fixed CrazyRadio crash on shutdown, fixed RateCommand.msg (according to Dusan's code), removed timers from PPSClient, still fucking around with SafeControllerService

reverted CrazyRadio, fixed PPSClient and fucked around with SafeControllerService. Also modified .gitignore to ignore all pyc files.

safeRateCommandPkg added as Output from safeController. This gets then pubslished via callbackRateCommand.

added area and controlleroutput structs to PPSClient for testing; added CentralManagerService to launch file

Publishers and callbacks to send data to crazyradio.py added to PPSClient.pps; Crayzradio node added to ppsLaunch.launch; Subcriber added to Crazyradio.py which successfully subscribes to motorCommand even if no cf is connected.