Add the millet to a saucepan over a medium heat and toast for 4 to 5 minutes, or until it smells toasty and the millet starts to turn golden. Add the water and salt and stir well and bring to a boil. Cover and reduce the heat to low and cook for 15 minutes. Remove from the heat and stand for 10 minutes before fluffing up with a fork. Allow the millet to cool completely before making the burgers.
Meanwhile, place a frying pan over a medium low heat, and add the olive oil and turmeric, coriander, cumin and cinnamon and fry the onion until the onion is softened and the spices fragrant. Set aside to cool.
Combine the millet, onion, garlic, herbs, lemon juice, preserved lemon, soy, chickpeas and breadcrumbs in a large bowl. Check the seasoning of the mix and add salt and pepper to taste. Add the eggs and mix well. Form the mixture into burgers (the mixture should make roughly 6) and place on a plate, cover with plastic wrap and refrigerate for 2 hours.
Place a large frying pan over a medium heat and add the olive oil and cook the burgers on 3 to 4 minutes on each side, until golden.
To make the lemon yoghurt place the yoghurt in a bowl and add the preserved lemon rind and lemon juice and whisk to combine.
Serve on pita bread with fried onions, rocket and the lemon yoghurt or the accompaniments of your choice.
While millet is gluten free, I've used breadcrumbs in this recipe to help bind things together, however you could easily substitute your favourite gluten free flour to make them gluten free.