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AP_Mount: Siyi gets rate map, PI control, accel limit #37731

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Run time

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Job	Run time
build (navio, armhf)	5m 52s
build (navio2, armhf)	5m 58s
build (bbbmini, armhf)	6m 17s
build (bhat, armhf)	5m 48s
build (bebop, armhf)	6m 23s
build (erlebrain2, armhf)	5m 52s
build (pxfmini, armhf)	6m 2s
build (pxf, armhf)	5m 51s
build (canzero, armhf)	6m 39s
build (navigator, armhf-musl)	4m 12s
build (linux, base)	8m 20s
	1h 7m 14s