test environment setup

Tools: heli autotune autotest save gains and add tune check #166

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Run time

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Job	Run time
build (ubuntu, focal)	16m 54s
build (ubuntu, jammy)	14m 53s
build (ubuntu, mantic)	31m 3s
build (ubuntu, noble)	37m 1s
build (archlinux, latest)	13m 51s
build (debian, bookworm)	9m 33s
build (debian, bullseye)	14m 20s
build (debian, buster)	13m 14s
	2h 30m 49s