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AP_HAL: add and use function to get mutable reference #32302

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Job	Run time
build (navio, armhf)	12m 23s
build (navio2, armhf)	12m 15s
build (bbbmini, armhf)	13m 7s
build (bhat, armhf)	12m 3s
build (bebop, armhf)	12m 8s
build (erlebrain2, armhf)	12m 12s
build (pxfmini, armhf)	12m 3s
build (pxf, armhf)	12m 0s
build (navigator, armhf-musl)	6m 41s
build (linux, base)	10m 53s
	1h 55m 45s