add lqi and lqi controller

[baggepinnen]

No description provided.

[codecov-commenter]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 90.56%. Comparing base (2aa4cb6) to head (ff0a33c).

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #127      +/-   ##
==========================================
+ Coverage   90.40%   90.56%   +0.16%     
==========================================
  Files          19       19              
  Lines        2928     2968      +40     
==========================================
+ Hits         2647     2688      +41     
+ Misses        281      280       -1     

Flag	Coverage Δ
unittests	90.56% <100.00%> (+0.16%)	⬆️

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