Cumulative yaw improvements

[etocii]

The yaw precomps seems to work pretty well with the governor. However, there are still a few issues.

1. Yaw precomp is sensitive to wind direction. I theorize that more equivalent gain is needed for lower tail blade pitch but we have yet to test it.
2. Yaw precomp is too much when doing piro. The piro rate (at least felt like) fluctuates when doing piro pitch pumps. It could be that the above fix will solve the problem. If not, Vbar decreases collective precomps proportional to yaw inputs.
3. Yaw whips. I do not think high I gain is the solution. There should be a "HSI" equivalent on yaw that detects airspeeds.