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[backport 4.6] AP_Scripting: mavlink: fix potential deadlock and clean up #37501

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[backport 4.6] AP_Scripting: mavlink: fix potential deadlock and clean up

[backport 4.6] AP_Scripting: mavlink: fix potential deadlock and clean up #37501

Run time

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Job Run time
build (sitl)
25m 8s
build (CubeOrange)
50m 14s
1h 15m 22s