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Merge branch 'master' into bugfix/heli_rotor_speed #511

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Run time

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Job	Run time
linux-x64	8m 12s
windows-win32	11m 12s
windows-x64	7m 7s
windows-arm64	7m 35s
macOS	8m 31s
linux-arm64	10m 9s
	52m 46s