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(WIP) This is a PR to start working on Rebase CxPilot changes to Ardupilot 4.5 #2

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(WIP) This is a PR to start working on Rebase CxPilot changes to Ardupilot 4.5

(WIP) This is a PR to start working on Rebase CxPilot changes to Ardupilot 4.5 #2

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