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Include PI Calibration and PI Controller in Mag/Ang Format

Gabriel Fedel requested to merge fedel_new_add_pi_calib into master

This set of changes provides the possibility to enter calibration tables for PI Controller and also use the PI Controller with Mag/Ang values. This set of changes not include the PI Calibration procedure, that will be included in a different merge request.

Edited by Gabriel Fedel

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