[PID Controller] Export state interfaces for easier chaining with other controllers (backport #1214) #1546
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This PR aims to export some state interfaces from the PID controllers that can be used in cascade with other controllers, this helps in not defining separate parameters for command interfaces (The one exported by the PID controller) and the state interfaces that define the same state as the PID controller, and it simplifies the design of the chained controllers
This is an automatic backport of pull request #1214 done by Mergify.