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AC_Autorotation: Mode restructure and speed controller improvement #395

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AC_Autorotation: Mode restructure and speed controller improvement

AC_Autorotation: Mode restructure and speed controller improvement #395

Run time

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Job Run time
build (base)
4m 12s
build (clang)
4m 9s
autotest (sitltest-plane-tests1a)
14m 40s
autotest (sitltest-plane-tests1b)
21m 49s
autotest (sitltest-quadplane)
14m 50s
59m 40s