Ackermann: Refactor code #24827

Job	Run time
build (check_format)	1m 4s
build (check_newlines)	1m 32s
build (tests)	5m 43s
build (tests_coverage)	7m 33s
build (px4_fmu-v2_default stack_check)	3m 17s
build (validate_module_configs)	51s
build (shellcheck_all)	1m 32s
build (NO_NINJA_BUILD=1 px4_fmu-v5_default)	4m 12s
build (NO_NINJA_BUILD=1 px4_sitl_default)	3m 18s
build (px4_sitl_allyes)	4m 39s
build (airframe_metadata)	1m 3s
build (module_documentation)	1m 3s
build (parameters_metadata)	1m 8s
	36m 55s

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