Airbrakes Improvements

[AarC10]

Description

Suggestions for a few ways to improve the airbrakes code.

• Rewrites expGyro to use Rodrigues formula instead of having to explicilty build K, and K^2 and have to add matrix temps. This should reduce the amount of work you need to do in the hot path and achieves ~1.3x speedup on x86
• Replace the naive implementation for atmosphere polynomial eval with Horner's
• Prevent airbrake LUT from not dividing by zero
• FeedGyro also didnt seem to be tilt checking correctly. Added a fix which resulted in a 0.7x speedup making it slower. Have it use cosine space though instead of acos, which is also faster and safer. Also avoid computing full angles every cycle and have a quaternion state in the hot path instead of doing constant matmuls. This results in pretty much the same performance as the original so 1.0x speedup.

Type of change

• Bug fix (non-breaking change which fixes an issue)

How Has This Been Tested?

x86 benchmark. Other than that I know Richie got me :)))

Checklist:

• New functionality is documented in the necessary spots (i.e new functions documented in the header)
• Unit tests cover any new functionality or edge cases that the PR was meant to resolve (if applicable)
• The CI checks are passing
• I reviewed my own code in the GitHub diff and am sure that each change is intentional
• I feel comfortable about this code flying in a rocket