Rover: Rewrote gnd_pos_control and removed gnd_att_control (#12239)

ROMFS/px4fmu_common/init.d-posix/1060_rover

@@ -19,10 +19,6 @@ then
 	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0
-	param set GND_WR_D 1.2
-	param set GND_WR_I 0.9674
-	param set GND_WR_IMAX 0.1
-	param set GND_WR_P 2
 
 	param set MIS_LTRMIN_ALT 0.01
 	param set MIS_TAKEOFF_ALT 0.01
@@ -30,6 +26,10 @@ then
 	param set NAV_LOITER_RAD 2
 
 	param set CBRK_AIRSPD_CHK 162128
+
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
 fi
 
 set MAV_TYPE 10

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -15,7 +15,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-sh /etc/init.d/rc.ugv_defaults
+sh /etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then
@@ -29,15 +29,19 @@ then
 	param set FW_AIRSPD_TRIM 1
 	param set FW_AIRSPD_MAX 3
 
-	param set GND_WR_P 1
-	param set GND_WR_I 0.9674
-	param set GND_WR_IMAX 0.1
-	param set GND_WR_D 0.1
 	param set GND_SP_CTRL_MODE 1
-	param set GND_L1_DIST 10
+	param set GND_L1_DIST 5.0
+	param set GND_L1_PERIOD 3.0
 	param set GND_THR_IDLE 0
-	param set GND_THR_CRUISE 0
+	param set GND_THR_CRUISE 0.7
 	param set GND_THR_MAX 0.5
+
+	# Because this is differential drive, it can make a turn with radius 0.
+	# This corresponds to a turn angle of pi radians.
+	# If a special case is made for differential-drive, this will need to change.
+	param set GND_MAX_ANG 3.142
+	param set GND_WHEEL_BASE 0.3
+
 	# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
 	# to support negative throttle.
 	param set GND_THR_MIN 0.0
@@ -64,7 +68,7 @@ then
 	param set CBRK_AIRSPD_CHK 162128
 fi
 
-# Configure this as ugv
+# Configure this as rover
 set MAV_TYPE 10
 
 # Set mixer

ROMFS/px4fmu_common/init.d/rc.rover_apps

@@ -16,8 +16,7 @@ ekf2 start
 #
 # Start attitude controllers.
 #
-gnd_att_control start
-gnd_pos_control start
+rover_pos_control start
 
 
 #