SoftStart Fix for engaging from nose-down

When mounting "backwards," coming up to level from a nose down position, Soft Start would not function correctly and you would get the older harsh engagement. This is now accounted for.

Author: NicoAleman

float/float/float.c

@@ -1812,7 +1812,7 @@ static void float_thd(void *arg) {
 				pid_mod += d->applied_booster_current;
 
 				if (d->float_conf.startup_softstart_enabled && (d->softstart_pid_limit < d->mc_current_max)) {
-					pid_mod = fminf(pid_mod, d->softstart_pid_limit);
+					pid_mod = fminf(fabs(pid_mod), d->softstart_pid_limit) * SIGN(pid_mod);
 					d->softstart_pid_limit += d->softstart_ramp_step_size;
 				}