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## Describe problem solved by this pull request
A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
E.g. For this use case I ran into...

## Describe your solution
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## Describe possible alternatives
A clear and concise description of alternative solutions or features you've considered.

## Test data / coverage
How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.

## Additional context
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