Guiding and perf fixes

[ClutchplateDude]

• Improved Serial command handling (made it less 'blocking'), which should improve general performance
• Guiding now updates RA/DEC coordinates
• Guide pulses are ignored when tracking is disabled (for example, when at the limits)

[openastrotech-bot]

Looks like your PR has code that needs to be changed in order to meet our coding standards!
Here are your options:

1. Apply the patch that was generated by the job
   1. Click details under the failing clang-format check
   2. Click the Artifacts dropdown in the top right
   3. Download + unzip the clang-format-diff.patch file into the OpenAstroTracker-Firmware repo
   4. Run git apply clang-format-diff.patch to make the changes
   5. Commit and push up the formatted code
2. Run clang-format locally
   1. Run the command bash -c 'shopt -s nullglob globstar;GLOBIGNORE=./src/libs/TimerInterrupt/*; for i in ./{.,src/**,unit_tests,boards/**}/*.{c,cpp,h,hpp}; do clang-format -i $i; done'
   2. Commit and push up the formatted code