[Multirotor] add yaw torque low pass filter (#24173)

co-authored-by: danielmellinger <107884356+danielmellinger@users.noreply.github.com>
co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>

src/lib/mathlib/math/filter/AlphaFilter.hpp

@@ -89,6 +89,16 @@ public:
 		return true;
 	}
 
+	void setCutoffFreq(float cutoff_freq)
+	{
+		if (cutoff_freq > FLT_EPSILON) {
+			_time_constant = 1.f / (M_TWOPI_F * cutoff_freq);
+
+		} else {
+			_time_constant = 0.f;
+		}
+	}
+
 	/**
 	 * Set filter parameter alpha directly without time abstraction
 	 *