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QuRT's pthread_cancel implementation is lacking, and causes px4_poll to always wait for the maximumn timeout. A cleaner implementation is provided that uses the HRT work queue for posix targets. In the future the posix code should be rtefactiored so that qurt (and other) implementations that are duplicated, use the posix implementation. Signed-off-by: Mark Charlebois <charlebm@gmail.com>