test unit tests and sitl building

AP_NavEKF3: document provenance of Python-generated equations #41665

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Run time

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Job	Run time
build (base, unit-tests)	12m 44s
build (base, sitl)	13m 49s
build (clang, unit-tests)	11m 51s
build (clang, sitl)	16m 11s
	54m 35s