test unit tests and sitl building

AP_Motors: Heli_Dual: refactor swash plate mixing #33453

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Run time

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Job	Run time
build (base, unit-tests)	13m 43s
build (base, sitl)	10m 40s
build (clang, unit-tests)	13m 11s
build (clang, sitl)	13m 28s
	51m 2s