Firmware estimated state and truth diverge in simulation at high throttle

[JMoore5353]

We noticed that when flying at high throttle in simulation, the multirotor pitches, rolls, or yaws at a rate that increases with time. This causes the multirotor to fly away even with the angle control loops running.

Some observations:

• Removing the gyro walk bias nearly fixes the issue.
• It only happens after roughly 85% throttle.
• The angle controller outputs commands to pull the vehicle level, but it does not succeed.