speed control anti windup improvement

mcpwm_foc.c line 2480:  utils_truncate_number(&i_term, -1.0, 1.0);

The i_term should not be truncated to 1.0, but rather to (1.0 - min(1.0, abs(p_term)) or something like that.

Reason: Reduce overshoot by truncating i_term to a lower value.