Refactor attitude control to be thread safe #39707

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Job	Run time
build (navio, armhf)	8m 5s
build (navio2, armhf)	8m 43s
build (bbbmini, armhf)	8m 50s
build (bhat, armhf)	8m 20s
build (bebop, armhf)	8m 9s
build (erlebrain2, armhf)	8m 48s
build (pxfmini, armhf)	8m 9s
build (pxf, armhf)	8m 18s
build (canzero, armhf)	8m 44s
build (navigator, armhf-musl)	4m 45s
build (linux, base)	9m 45s
	1h 30m 36s