Converge IMU faster at higher groundspeed during GPS Rescue

src/main/flight/imu.c

@@ -413,12 +413,18 @@ static float imuCalcKpGain(timeUs_t currentTimeUs, bool useAcc, float *gyroAvera
     lastArmState = armState;
 
     if (attitudeResetActive) {
-        ret = ATTITUDE_RESET_KP_GAIN;
+        ret = ATTITUDE_RESET_KP_GAIN; // 25
     } else {
-       ret = imuRuntimeConfig.dcm_kp;
-       if (!armState) {
-          ret = ret * 10.0f; // Scale the kP to generally converge faster when disarmed.
-       }
+        ret = imuRuntimeConfig.dcm_kp; // 0.25 (2500/10,000)
+#if defined(USE_GPS_RESCUE)
+        if (FLIGHT_MODE(GPS_RESCUE_MODE)) {
+            ret *= gpsSol.groundSpeed / 200.0f;
+            // converge faster generally during a rescue, more quickly the faster the rescue, and slower when moving slowly
+        }
+#endif
+        if (!armState) {
+            ret *= 10.0f; // 2.5, 10x faster convergence when disarmed
+        }
     }
 
     return ret;