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Fix 834 and Add Unit Tests (dependent on #780) - #849

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mrpilot2 wants to merge 42 commits into
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mrpilot2:fix_834
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Fix 834 and Add Unit Tests (dependent on #780)#849
mrpilot2 wants to merge 42 commits into
ArduPilot:masterfrom
mrpilot2:fix_834

Audio: Fix #834: Revert "Audio: Fixes #812 Port to flite2"

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