On a first look your merge looks pretty good, but some minor comments:

- "Add lpia to supported architectures."

I can't see any changes related to this point, besides we don't support
lpia anymore => You can drop this line

The following changes are undocumented:

+Breaks: udev (<< 136-1)

(though the other related changes are documented)
You can probably drop this change as all supported Ubuntu releases have a newer 
version than the mentioned one.

-       dh_installdocs -s -A
+       dh_installdocs -s -A CREDITS README.INSTALL TROUBLESHOOTING

This look like a change that was done in the Debian package that you
undid as it wasn't in the previous Ubuntu delta.

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https://bugs.launchpad.net/bugs/1186588

Title:
  Please merge xenomai 2.6.2.1-2 (universe) from Debian unstable (main)

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