test unit tests and sitl building

Copter: support `DO_RETURN_PATH_START` in AUTO RTL mode #37683

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Run time

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Job	Run time
build (base, unit-tests)	14m 21s
build (base, sitl)	12m 50s
build (clang, unit-tests)	14m 48s
build (clang, sitl)	16m 42s
	58m 41s