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Refactor attitude control to be thread safe #33484

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Refactor attitude control to be thread safe

Refactor attitude control to be thread safe #33484

Run time

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Job Run time
build (chibios, Durandal)
19m 6s
build (chibios, MatekF405)
18m 43s
build (chibios, KakuteF7)
17m 43s
build (chibios, MatekH743-bdshot)
20m 43s
build (chibios, Pixhawk1-1M)
18m 54s
build (chibios, MatekF405-CAN)
4m 31s
build (chibios, DrotekP3Pro)
3m 48s
build (chibios, Hitec-Airspeed)
5m 7s
build (chibios, f103-GPS)
5m 15s
build (disco, armhf)
17m 32s
2h 11m 22s