fix(ekf2): reset gyro-bias-z-covariance on tryYawEmergencyReset to make recovering from wrong bias-estimate possible (#27327)

src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp

@@ -411,6 +411,10 @@ bool Ekf::tryYawEmergencyReset()
 	if (resetYawToEKFGSF()) {
 		ECL_WARN("GPS emergency yaw reset");
 
+		// in-flight yaw rescue is a signal that gyro_bias_z could be wrong
+		// bump its variance so new observations will correct it faster
+		resetGyroBiasZCov();
+
 		if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
 			// stop using the magnetometer in the main EKF otherwise its fusion could drag the yaw around
 			// and cause another navigation failure