Previously _cn could never significantly drop below its initial value, leading to cases where low accelerations meant it could never exceed a speed value of about 1361000 / sqrt(acceleration)
This fix is to correct it such that the libraries speed limit is the only thing limiting the maximum speed, This may have the consequence of changing the acceleration scaling at higher speeds slightly, as it no longer rolls off, instead increasing to the cruise phase
Previously _cn could never significantly drop below its initial value, leading to cases where low accelerations meant it could never exceed a speed value of about 1361000 / sqrt(acceleration)
This fix is to correct it such that the libraries speed limit is the only thing limiting the maximum speed, This may have the consequence of changing the acceleration scaling at higher speeds slightly, as it no longer rolls off, instead increasing to the cruise phase