SITL Tests

ObstacleMath: move repeated/static code in SF45 & CollisionPrevention to ObstacleMath library #32580

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Run time

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Job	Run time
Testing PX4 iris	16m 56s
Testing PX4 tailsitter	21m 39s
Testing PX4 standard_vtol	21m 44s
	1h 0m 19s