Sub: Update build script and added to build_ci.sh

ArduSub/Makefile.waf

@@ -1,2 +1,2 @@
 all:
-	@$(MAKE) -C ../ -f Makefile.waf copter
+	@$(MAKE) -C ../ -f Makefile.waf sub

ArduSub/wscript

@@ -1,15 +1,12 @@
 #!/usr/bin/env python
 # encoding: utf-8
 
-import ardupilotwaf
-
 def build(bld):
     vehicle = bld.path.name
-    ardupilotwaf.vehicle_stlib(
+    bld.ap_stlib(
-        bld,
         name=vehicle + '_libs',
         vehicle=vehicle,
-        libraries=ardupilotwaf.COMMON_VEHICLE_DEPENDENT_LIBRARIES + [
+        libraries=bld.ap_common_vehicle_libraries() + [
             'AP_ADSB',
             'AC_AttitudeControl',
             'AC_Fence',
@@ -36,8 +33,7 @@ def build(bld):
         use='mavlink',
     )
 
-    ardupilotwaf.program(
+    bld.ap_program(
-        bld,
         program_name='ardusub',
         use=vehicle + '_libs',
     )