You could read the average analog value of the PWM output through a low-pass filter, but since the angle is represented by a varying high pulse width and a fixed low pulse width, the analog value will be a non-linear function of angle and there will be errors in the angle readout, particularly at low angle values.
But converting the signal to analog and then back to digital doesn't make any sense since the signal is already available in a convenient digital form. Simply read the value in registers 1, or 2&3 in the module, through the IC2 interface with a microprocessor. These registers contain digital words representing the angle.