mc_rate_control: use vehicle_angular_acceleration topic instead of differentiating

* mc_rate_control: use vehicle_angular_acceleration topic
* IMU_DGYRO_CUTOFF change default to 30 Hz
* improve IMU_DGYRO_CUTOFF param documentation (updated from MC_DTERM_CUTOFF)

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp

@@ -108,7 +108,7 @@ private:
 	math::NotchFilter<matrix::Vector3f> _notch_filter_velocity{};
 
 	// angular acceleration filter
-	math::LowPassFilter2pVector3f _lp_filter_acceleration{kInitialRateHz, 10.0f};
+	math::LowPassFilter2pVector3f _lp_filter_acceleration{kInitialRateHz, 30.0f};
 
 	float _filter_sample_rate{kInitialRateHz};