Thanks for the analysis and patch, Richard.  I think you've put your
finger on the problem.  However, I see that there's only one code path
where we call vgchange without already calling udev_settle afterward  A
proper fix for this should eliminate unnecessary calls to udevadm settle
that would slow down the boot.

Actually it looks like the calls to vgchange are unnecessary as a whole,
because we have udev in the initramfs to do this for us; and we should
be calling *just* udevadm settle.

Attached is a patch that I believe should do the right thing, though
it's currently untested.

** Patch added: "cryptsetup-1481536.patch"
   
https://bugs.launchpad.net/ubuntu/+source/cryptsetup/+bug/1481536/+attachment/4528850/+files/cryptsetup-1481536.patch

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https://bugs.launchpad.net/bugs/1481536

Title:
  "cryptsetup: unknown fstype, bad password or options?" error unlocking
  / decrypting LUKS volume at boot

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