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AC_PID: tidy interface and add logging of resets and I term sets #7468

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AC_PID: tidy interface and add logging of resets and I term sets

AC_PID: tidy interface and add logging of resets and I term sets #7468

Run time

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Job Run time
build (sitl)
4m 39s
build (stm32h7)
4m 37s
9m 16s