I wonder if something like ADRC (see ADRC: Active Disturbance Rejection Control by MichelleRos · Pull Request #20243 · ArduPilot/ardupilot · GitHub, GSOC 2022 - Custom Controller Implementation Update - Adding New Controller By Hand Coding, and https://github.com/ArduPilot/ardupilot/files/8202606/Jiachi_Zou_Thesis.2018.ADRC.UAV.Github.pdf) might be useful for this scenario.
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