in autopilot modes, allow up to 85 deg for pos hold

src/main/flight/pid.c

@@ -570,10 +570,12 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
 #endif
 #ifdef USE_POS_HOLD_MODE
     if (FLIGHT_MODE(POS_HOLD_MODE)) {
+        angleFeedforward = 0.0f; // otherwise the lag of the PT3 carries recent stick inputs into the hold
         if (isAutopilotActive()) {
+            // sticks are not deflected
             angleTarget = autopilotAngle[axis]; // autopilotAngle in degrees
+            angleLimit = 85.0f; // allow autopilot to use whatever angle it needs to stop
         }
-        angleFeedforward = 0.0f;
     }
 #endif