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Suggestion
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Resolution: Unresolved
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See discussions here: https://answers.atlassian.com/questions/154204/git-submodule-update-on-branch-switch
Basically need an opt-in option in the prefs on the Git tab to have an option whereby you can checkout the HEAD of a submodule regardless of what commit you're checking out on any branch. This is only available in Git any way so can't be done in Mercurial.
This is a modification of standard git behaviour, which may violate the least-surprise principle.
Really, this needs to be solved in git itself.