minor changes on ahrs #9360
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minor changes on ahrs #9360
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when ahrs_inertia_comp_method is set to ADAPTIVE. Multirotor will use VELNED method instead of bugging out.
Makes sense because ADAPTIVE is intended to choose the best result from VELNED/TURNRATE in each AHRS loop, and TURNRATE is not available in multirotor.
VTOL setup can use ADAPTIVE method now. hopefully more resilient to horizon drift when compass heading is not accurate(bad placement/calibration)
Default method is changed to ADAPTIVE