Back to pull request #167

Feature/sw 291 reverting the fft disable change 5.2 #715

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Run time

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Job	Run time
build (base, unit-tests)	23m 3s
build (base, sitl)	8m 41s
build (clang, unit-tests)	25m 29s
build (clang, sitl)	8m 16s
	1h 5m 29s