Merge branch 'feature/v4_modular' into develop

# Conflicts:
#	rust/src/config.rs
#	rust/src/main.rs
#	rust/src/tank.rs

rust/src/webserver/webserver.rs

@@ -321,6 +321,8 @@ fn ota(
         let read = request.read(&mut buffer)?;
         total_read += read;
         let to_write = &buffer[0..read];
+        //delay for watchdog and wifi stuff
+        Delay::new_default().delay_ms(1);
 
         let iter = (total_read / 1024) % 8;
         if iter != lastiter {