Fix PID Setpoint Mapping and Controller Windup

[yufurkan]

The Objective

Correct the mathematical mismatch between the RC input (PWM) and IMU feedback (Degrees) within the PID controllers to ensure proper actuator outputs.

Currently, the App_Sensor_Task feeds raw RC PWM values (1000-2000) directly into the PID controllers as setpoints, while the IMU provides feedback in degrees (-90 to +90). This massive unit mismatch causes immediate PID windup and actuator lock-up.

• Implement a mapping function to convert raw RC input (1000-2000) to target angles.
• Feed the mapped target angles into the PID compute function alongside the MPU6050 angle data.
• Test and tune base PID gains (Kp, Ki, Kd) in the HIL environment to observe correct control surface deflection.