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AC_AttitudeControl: optimize attitude control #41437

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Run time

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Job	Run time
build (navio, armhf)	3m 44s
build (navio2, armhf)	3m 48s
build (bbbmini, armhf)	4m 42s
build (bhat, armhf)	3m 59s
build (bebop, armhf)	3m 53s
build (erlebrain2, armhf)	3m 40s
build (pxfmini, armhf)	4m 4s
build (pxf, armhf)	4m 4s
build (canzero, armhf)	4m 27s
build (navigator, armhf-musl)	2m 19s
build (linux, base)	5m 50s
build (navigator64, aarch64)	1m 56s
build (linux, base)	5m 42s
	52m 8s