Minor improvements and bug fixes for mav3

[jugal-chauhan]

Description

Issues Resolved

Testing

Check List

• New functionality includes testing
• Public documentation issue/PR created, if applicable.

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 72.61%. Comparing base (b27788c) to head (bf9c9e9).

Additional details and impacted files

@@             Coverage Diff              @@
##               main    #2705      +/-   ##
============================================
+ Coverage     72.60%   72.61%   +0.01%     
  Complexity       90       90              
============================================
  Files           711      711              
  Lines         33058    33058              
  Branches       2842     2842              
============================================
+ Hits          24002    24006       +4     
+ Misses         7778     7774       -4     
  Partials       1278     1278              

Flag	Coverage Δ
gradle	68.88% <ø> (ø)
node	92.64% <ø> (ø)
python	76.61% <ø> (+0.04%)	⬆️

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