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Merge pull request #10243 from breadoven/abo_nav_vel_z_improvements #1

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Job	Run time
build-SITL-Windows	2m 52s
build-SITL-Mac	51s
build-SITL-Linux	31s
build (0)	7m 27s
test	45s
build (1)	7m 27s
build (2)	7m 5s
build (3)	8m 49s
build (4)	8m 22s
build (5)	7m 58s
build (6)	8m 41s
build (7)	9m 27s
build (8)	7m 34s
build (9)	8m 33s
build (10)	8m 37s
build (11)	7m 58s
build (12)	7m 48s
build (13)	7m 38s
build (14)	7m 36s
build (15)	5m 32s
release	10s
	2h 11m 41s