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PX4 stable release v1.12.3

# gpg verification failed.

# Conflicts:
#	Tools/gazebo_sitl_multiple_run.sh
#	Tools/sitl_gazebo
#	msg/tools/uorb_rtps_message_ids.yaml
#	src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp

 - cubepilot_cubeorange_test has the console enabled (used for test rack and bench debugging)

 - needed if the bootloader configures the memory protection unit (MPU)

 - needed if the bootloader configures the memory protection unit (MPU)

This is needed in case the bootloader configured the MPU, which could interfere with the app as the bootloader memory map / configuration is different.

 - otherwise the next retry can happen quickly enough that dma setup
hangs waiting for the stream

When the last WorkItem is deleted, it is removed from a work queue and the
queue is being stopped. But, the queue itself might get deleted in the middle,
in a higher priority thread than where the WorkItem deletion was performed from

If the WorkQueue::Detach accesses the member variables after this, there is memory
corruption

This happens in particular when launching i2c or spi devices in
I2CSPIDriverBase::module_start:

- The "initializer" is deleted when the instance is not found and the iterator
  while loop continues.
- The workqueue is deleted in the middle of "initializer" deletion when the
  WorkQueueRunner returns.

This prevents deletion of the WorkQueue before the Detach has been finished,
in the specific case that the ::Detach triggers the deletion
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

 - add new SYS_HAS_GPS parameter

 - fixes https://github.com/PX4/PX4-Autopilot/issues/17911

 - fixes https://github.com/PX4/PX4-Autopilot/issues/17977

- fix yaw spin on ground after large mag field change
- change covariance prediction for better stability
- fix yaw alignment in air for mag-less mode
- improve tilt alignment for non-static applications
- add momentum drag model