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SITL: implemented built-in serial receivers support in SITL, implemented FC proxy mode, updated SITL docs #4528

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Job	Run time
build-SITL-Linux	22s
build (0)	9m 50s
build-SITL-Mac	1m 16s
build (1)	9m 15s
build-SITL-Windows	2m 37s
build (2)	10m 32s
build (3)	9m 21s
build (4)	11m 25s
build (5)	10m 32s
build (6)	10m 54s
build (7)	9m 14s
build (8)	9m 37s
build (9)	8m 43s
test	53s
	1h 44m 31s