YAW stabilization problems after LONG YAW

[cTn-dev]

The YAW correction overshoots heavily after long and continuous rotation to one side, because YAW desired angle from pilot is faster then UAV turning speed.

Current coding approach would be correct if YAW rotation speed could keep up with the pilot YAW change, but as this factor changes with UAV weight/prop speed/size and other factors, releasing YAW stick while still having left over rotation that build up over time needs to be handled differently.

Ergo, UAV needs to stop turning "immediately" after YAW stick is released.