Differential: Fix PID implementation and adjust speed setpoint based on yaw rate setpoint #26569

Job	Run time
build (check_format)	1m 6s
build (check_newlines)	1m 33s
build (tests)	5m 52s
build (tests_coverage)	7m 41s
build (px4_fmu-v2_default stack_check)	3m 13s
build (validate_module_configs)	1m 5s
build (shellcheck_all)	1m 47s
build (NO_NINJA_BUILD=1 px4_fmu-v5_default)	4m 10s
build (NO_NINJA_BUILD=1 px4_sitl_default)	3m 22s
build (px4_sitl_allyes)	4m 16s
build (airframe_metadata)	1m 0s
build (module_documentation)	1m 4s
build (parameters_metadata)	59s
	37m 8s

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