test unit tests and sitl building

Copter: support `DO_RETURN_PATH_START` in AUTO RTL mode #38172

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Run time

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Job	Run time
build (base, unit-tests)	18m 10s
build (base, sitl)	12m 43s
build (clang, unit-tests)	19m 52s
build (clang, sitl)	16m 18s
	1h 7m 3s