Corrrect SmartRTL internal error by preserving home srtl point#17419

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peterbarker wants to merge 3 commits intoArduPilot:masterfrom peterbarker:pr/smartrtl-alt-hold-fix

+61-32

Commits on Apr 6, 2024

autotest: add SmartRTL test for rapid switch between smartrtl and althold
peterbarker
committed
AP_SmartRTL: add accessor to get the path semaphore
peterbarker
committed
Copter: SmartRTL: do not consume home position when following path
peterbarker
committed