AC_AttitudeControl method and variable renames

[peterbarker]

This is a no-compiler-output change for the AttitudeController.

This was extracted from some upcoming work from Leonard (#30120).

It corrects some names (particularly some method names), but mostly just adds units to local variables in the AttitudeController.

Board                    AP_Periph  blimp  bootloader  copter  heli  iofirmware  plane  rover  sub
CubeOrange-periph-heavy  *                 *                                                   
CubeRedPrimary                      *      *           *       *                 *      *      *
Durandal                            *      *           *       *                 *      *      *
Hitec-Airspeed           *                 *                                                   
KakuteH7-bdshot                     *      *           *       *                 *      *      *
MatekF405                           *      *           *       *                 *      *      *
Pixhawk1-1M-bdshot                  *                  *       *                 *      *      *
f103-QiotekPeriph        *                 *                                                   
f303-Universal           *                 *                                                   
iomcu                                                                *                         
revo-mini                           *      *           *       *                 *      *      *
skyviper-journey                                       *                                       
skyviper-v2450                                         *                                       

[IamPete1]

LGTM