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Converge IMU faster at higher groundspeed during GPS Rescue (betaflig…
…ht#12738) * dynamic dcm_kp depending on groundspeed vs velocity to home * reduce max pitch angle default to 40 * Only 10% of set velocity to home is enough, angle to 45 to reduce chance of sanity check against headwind * fixes, thanks @KarateBrot * Feedback from Ledvinap, ensure full pitch and yaw authority in descend * pitch limit max of 1/3 and dcm_kp gain to 6x max * apply IMU kP factor to yaw only via ez_ef * More from @ledvinap, constrain pitch in descent also * Fix the velocity error gain, refactoring thanks to Ledvinap * thanks, Mark! * fixes, must be fabsf * make IMU gain twice as sensitive to groundspeed error * useCOG as float * Fix unit test * ensure cogYawGain is zero, except during gps rescue * update comment after suggestion from ledvinap * keep roll angle limit consistently at 50% of pitch limit when active * changes to comments, thanks petr
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