On Push

Merge remote-tracking branch 'origin/main' into rework_imu #1372

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Run time

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Job	Run time
pytest / checker	1m 42s
pytest / pytest (3.10)	2m 5s
pytest / pytest (3.11)	2m 9s
pytest / pytest (3.12)	2m 9s
slack	2s
	8m 7s