Plane: added fast attitude recovery for inverted flight in Q modes

[tridge]

This makes recovery to level a lot faster from an upset attitude when using a Q mode as a recovery mode. It resets the target thrust angle to be within the limits set for the vehicle, which prevents the input shaping from trying to keep the vehicle inverted

builds on #28316
thanks to @lthall

With GriffinPro in RealFlight

without this change:

[tridge]

@IamPete1 @priseborough @lthall I have a chat to Leonard about this, and he suggested we run this function all the time, not just when starting VTOL control.
I also hit an interesting issue where requesting a smaller angle actually led to a lot more altitude loss in recovery, which seemed counter intuitive to me. The reason seems to be that with a small angle passed to this function we end up pulling the nose down more during the recovery due to the demanded positive pitch rate in body frame when inverted. That leads to downward lift from the wings and a sharp drop in altitude. Example here:
http://uav.tridgell.net/tmp/att_recovery/
rec1.BIN has a small target angle, rec2.BIN a large target angle. rec1.BIN loses 29m, rec2.bin loses 14m
this makes me wonder if we should actually have a custom upset recovery function in the plane code which always targets zero pitch (or maybe max fixed wing pitch limit?) and runs its own controller based on VTOL angle P gains, driving both fixed wing and VTOL rate controllers with no shaping until we get back within the angle limits.