Heli autorotation restructure mode and improve speed controller #43454

Job	Run time
build (stm32f7, chibios, 10)	8m 5s
build (stm32h7, chibios, 10)	7m 14s
build (fmuv2-plane, chibios, 10)	4m 54s
build (periph-build, chibios, 10)	5m 37s
build (iofirmware, chibios, 10)	3m 47s
build (CubeOrange-bootloader, chibios, 10)	3m 2s
build (fmuv3-bootloader, chibios, 10)	3m 11s
build (revo-bootloader, chibios, 10)	3m 12s
build (stm32h7-debug, chibios, 10)	5m 15s
build (fmuv3, chibios, 10)	10m 40s
build (revo-mini, chibios, 10)	8m 50s
build (MatekF405-Wing, chibios, 10)	8m 54s
build (CubeOrange-ODID, chibios, 10)	6m 17s
build (CubeRedPrimary-bootloader, chibios, 10)	2m 56s
build (configure-all, chibios, 10)	13m 27s
build (build-options-defaults-test, chibios, 10)	13m 4s
build (signing, chibios, 10)	5m 54s
build (CubeOrange-PPP, chibios, 10)	5m 2s
build (CubeRed-EKF2, chibios, 10)	4m 55s
build (SOHW, chibios, 10)	7m 8s
build (Pixhawk6X-PPPGW, chibios, 10)	3m 21s
build (new-check, chibios, 10)	9m 23s
	2h 24m 8s

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