Heli autorotation restructure mode and improve speed controller #40402

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Run time

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Job	Run time
build (navio, armhf)	8m 27s
build (navio2, armhf)	8m 36s
build (bbbmini, armhf)	9m 33s
build (bhat, armhf)	8m 26s
build (bebop, armhf)	8m 34s
build (erlebrain2, armhf)	8m 34s
build (pxfmini, armhf)	8m 31s
build (pxf, armhf)	8m 47s
build (canzero, armhf)	9m 13s
build (navigator, armhf-musl)	4m 46s
build (linux, base)	10m 3s
build (navigator64, aarch64)	4m 22s
build (linux, base)	10m 12s
	1h 48m 4s