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feat: added error decay on cyclic gain#141

Draft
egonl wants to merge 4 commits into
rotorflight:masterfrom
egonl:feat/fix-i-term-wind-up
Draft

feat: added error decay on cyclic gain#141
egonl wants to merge 4 commits into
rotorflight:masterfrom
egonl:feat/fix-i-term-wind-up

Aligned with firmware

d661c41
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