AP_Math: move zeroing to header, use memset, reuse in identity #40256

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Job	Run time
build (navio, armhf)	13m 51s
build (navio2, armhf)	13m 38s
build (bbbmini, armhf)	14m 27s
build (bhat, armhf)	13m 42s
build (bebop, armhf)	13m 41s
build (erlebrain2, armhf)	13m 56s
build (pxfmini, armhf)	13m 42s
build (pxf, armhf)	13m 34s
build (canzero, armhf)	14m 45s
build (navigator, armhf-musl)	8m 25s
build (linux, base)	14m 27s
build (navigator64, aarch64)	7m 30s
build (linux, base)	14m 11s
	2h 49m 49s