Build firmware

cleaner version #5729

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Run time

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Job	Run time
build-SITL-Linux	36s
build-SITL-Mac	59s
build (0)	10m 6s
build-SITL-Linux-arm64	55s
build (1)	8m 14s
test	44s
build-SITL-Windows	2m 50s
build (2)	9m 55s
build (3)	9m 57s
build (4)	10m 6s
build (5)	10m 1s
build (6)	11m 17s
build (7)	9m 32s
build (8)	9m 56s
build (9)	11m 37s
build (10)	8m 59s
build (11)	9m 26s
build (12)	8m 46s
build (13)	10m 39s
build (14)	4m 46s
upload-artifacts	25s
	2h 29m 46s