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Multirotor arming safety course hold/cruise mode fix #4145

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Job	Run time
build-SITL-Windows	4m 10s
build-SITL-Mac	2m 0s
build-SITL-Linux	34s
build (0)	14m 41s
build (1)	14m 20s
build (2)	18m 34s
build (3)	14m 29s
build (4)	19m 29s
build (5)	17m 39s
build (6)	18m 14s
build (7)	17m 23s
build (8)	14m 29s
build (9)	17m 29s
test	51s
	2h 54m 22s