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Please use [PX4 Discuss ](http://discuss.px4.io/ ) or [Discord ](https://discord.gg/dronecode ) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
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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.
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E.g. For this use case I ran into...
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## Describe your solution
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A clear and concise description of what you have implemented.
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## Describe possible alternatives
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A clear and concise description of alternative solutions or features you've considered.
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## Test data / coverage
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How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
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## Additional context
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Add any other related context or media.