[PID] Add example yaml to docs

[christophfroehlich]

Addition to #652, but PID-Controller is not backported to iron/humble yet -> no backport now of this PR.

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Comparison is base (9f7e9e9) 47.71% compared to head (ee7cc77) 72.41%. Report is 29 commits behind head on master.

Additional details and impacted files

@@             Coverage Diff             @@
##           master     #951       +/-   ##
===========================================
+ Coverage   47.71%   72.41%   +24.69%     
===========================================
  Files          41       41               
  Lines        3871     3639      -232     
  Branches     1833     1781       -52     
===========================================
+ Hits         1847     2635      +788     
+ Misses        751      691       -60     
+ Partials     1273      313      -960     

Flag	Coverage Δ
unittests	72.41% <ø> (+24.69%)	:arrow_up:

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see 34 files with indirect coverage changes