Changes

Update bettercontroller tuning

- velocity pid now outputs angular accel instead of actuation
- removed buggy compensation for higher warp [KSPs own crazy tweaking of
  gimbal rate seems to compensate fairly well for higher warp]
- tuned bandwidth of the PIDs down significantly (4 rad/sec for inner, 1
  rad/sec for outer) with reference-tracking focus and highest phase
  margins [which produces minimal overshoot for snappy RCS, while
  keeping the PIDs from being too snappy for slow gimbals]
- design was done against a no-actuator-delay/no-gimbal system (RCS/RW),
  with the slow bandwith being the tuning for possible delay.

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: 7533747)