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feat(core): add heartbeat watchdog (deadman timer) (#2895)#2905

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feat(core): add heartbeat watchdog (deadman timer) (#2895)#2905
tpayne-censystech wants to merge 3 commits into
mavlink:mainfrom
tpayne-censystech:feat-2895

fix(core): avoid TSan race when packing injected heartbeats

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