AC_AttitudeControl: Fix yaw limit calculations #1121

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Job	Run time
build (navio, armhf)	19m 44s
build (navio2, armhf)	23m 36s
build (bbbmini, armhf)	20m 35s
build (bhat, armhf)	23m 22s
build (bebop, armhf)	24m 12s
build (erlebrain2, armhf)	20m 9s
build (pxfmini, armhf)	19m 9s
build (pxf, armhf)	18m 51s
build (navigator, armhf-musl)	8m 30s
build (linux, base)	21m 17s
	3h 19m 25s