ackermann: deprecate RA_MISS_SPD_DEF and update airframe default params

src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp

@@ -204,12 +204,8 @@ void RoverAckermannGuidance::updateWaypointsAndAcceptanceRadius()
 	}
 
 	// Waypoint cruising speed
-	if (position_setpoint_triplet.current.cruising_speed > 0.f) {
-		_cruising_speed = math::constrain(position_setpoint_triplet.current.cruising_speed, 0.f, _param_ra_max_speed.get());
-
-	} else {
-		_cruising_speed = _param_ra_miss_spd_def.get();
-	}
+	_cruising_speed = position_setpoint_triplet.current.cruising_speed > 0.f ? math::constrain(
+				  position_setpoint_triplet.current.cruising_speed, 0.f, _param_ra_max_speed.get()) : _param_ra_max_speed.get();
 }
 
 float RoverAckermannGuidance::updateAcceptanceRadius(const float waypoint_transition_angle,

src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.hpp

@@ -204,7 +204,6 @@ private:
 		(ParamFloat<px4::params::RA_MAX_STR_ANG>) _param_ra_max_steer_angle,
 		(ParamFloat<px4::params::RA_ACC_RAD_MAX>) _param_ra_acc_rad_max,
 		(ParamFloat<px4::params::RA_ACC_RAD_GAIN>) _param_ra_acc_rad_gain,
-		(ParamFloat<px4::params::RA_MISS_SPD_DEF>) _param_ra_miss_spd_def,
 		(ParamFloat<px4::params::RA_SPEED_P>) _param_ra_p_speed,
 		(ParamFloat<px4::params::RA_SPEED_I>) _param_ra_i_speed,
 		(ParamFloat<px4::params::RA_MAX_SPEED>) _param_ra_max_speed,

src/modules/rover_ackermann/module.yaml

@@ -57,17 +57,6 @@ parameters:
         decimal: 2
         default: 2
 
-      RA_MISS_SPD_DEF:
-        description:
-          short: Default rover speed during a mission
-        type: float
-        unit: m/s
-        min: 0
-        max: 100
-        increment: 0.01
-        decimal: 2
-        default: 2
-
       RA_SPEED_P:
         description:
           short: Proportional gain for ground speed controller
@@ -122,10 +111,7 @@ parameters:
         description:
           short: Maximum acceleration for the rover
           long: |
-            This is used for the acceleration slew rate, the feed-forward term
-            for the speed controller during missions and the corner slow down effect.
-            Note: For the corner slow down effect RA_MAX_JERK, RA_MISS_VEL_GAIN and
-            RA_MISS_VEL_MIN also have to be set.
+            This is used for the acceleration slew rate.
         type: float
         unit: m/s^2
         min: -1
@@ -155,7 +141,7 @@ parameters:
           long: |
             Limit for forwards acc/deceleration change.
             This is used for the corner slow down effect.
-            Note: RA_MAX_ACCEL also has to be set for this to be enabled.
+            Note: RA_MAX_DECEL also has to be set for this to be enabled.
         type: float
         unit: m/s^3
         min: -1