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Feature/sw 219 v 37 backporting pusher message during forward transition #450

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Feature/sw 219 v 37 backporting pusher message during forward transition

Feature/sw 219 v 37 backporting pusher message during forward transition #450

Run time

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Job Run time
build (sitl)
1m 3s
build (CubeOrange)
1m 7s
2m 10s