Add minimum ground speed parameter

src/modules/rover_pos_control/RoverPositionControl.cpp

@@ -319,7 +319,7 @@ RoverPositionControl::control_position(const matrix::Vector2d &current_position,
 					_gnd_control.navigate_waypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed_2d);
 
 					///WIP: Convert Lateral acceleration demand to rate control reference
-					float min_speed{1.0};
+					float min_speed = _param_gndspeed_min.get();
 					matrix::Vector2f saturated_speed_2d = (ground_speed_2d.norm() < min_speed) ? ground_speed_2d :
 									      ground_speed_2d.normalized() * min_speed;
 
@@ -433,19 +433,16 @@ RoverPositionControl::control_rates(const vehicle_angular_velocity_s &rates, con
 				    const vehicle_local_position_s &local_pos,
 				    const vehicle_rates_setpoint_s &rates_sp)
 {
-	float dt = 0.01; // Using non zero value to a avoid division by zero
-
-	if (_control_rates_last_called > 0) {
-		dt = hrt_elapsed_time(&_control_rates_last_called) * 1e-6f;
-	}
-
+	float dt = (_control_rates_last_called > 0) ? hrt_elapsed_time(&_control_rates_last_called) * 1e-6f : 0.01;
 	_control_rates_last_called = hrt_absolute_time();
 
-	const matrix::Vector3f current_velocity(local_pos.vx, local_pos.vy, local_pos.vz);
 	const matrix::Vector3f vehicle_rates(rates.xyz[0], rates.xyz[1], rates.xyz[2]);
 	const matrix::Vector3f rates_setpoint(rates_sp.roll, rates_sp.pitch, rates_sp.yaw);
-	const matrix::Vector3f angular_acceleration{acc.xyz};
+
+	const matrix::Vector3f current_velocity(local_pos.vx, local_pos.vy, local_pos.vz);
 	bool lock_integrator = bool(current_velocity.norm() < _param_rate_i_minspeed.get());
+
+	const matrix::Vector3f angular_acceleration{acc.xyz};
 	const matrix::Vector3f torque = _rate_control.update(vehicle_rates, rates_setpoint, angular_acceleration, dt,
 					lock_integrator);
 

src/modules/rover_pos_control/RoverPositionControl.hpp

@@ -192,6 +192,7 @@ private:
 
 		(ParamFloat<px4::params::GND_SPEED_TRIM>) _param_gndspeed_trim,
 		(ParamFloat<px4::params::GND_SPEED_MAX>) _param_gndspeed_max,
+		(ParamFloat<px4::params::GND_SPEED_MIN>) _param_gndspeed_min,
 
 		(ParamInt<px4::params::GND_SP_CTRL_MODE>) _param_speed_control_mode,
 		(ParamFloat<px4::params::GND_SPEED_P>) _param_speed_p,

src/modules/rover_pos_control/rover_pos_control_params.c

@@ -234,6 +234,19 @@ PARAM_DEFINE_FLOAT(GND_SPEED_THR_SC, 1.0f);
  */
 PARAM_DEFINE_FLOAT(GND_SPEED_TRIM, 3.0f);
 
+/**
+ * Minimum ground speed
+ *
+ *
+ * @unit m/s
+ * @min 0.0
+ * @max 40
+ * @decimal 1
+ * @increment 0.5
+ * @group Rover Position Control
+ */
+PARAM_DEFINE_FLOAT(GND_SPEED_MIN, 1.0f);
+
 /**
  * Maximum ground speed
  *
@@ -368,4 +381,4 @@ PARAM_DEFINE_FLOAT(GND_RATE_MAX, 5.0f);
  * @increment 0.005
  * @group Rover Position Control
  */
-PARAM_DEFINE_FLOAT(GND_RATE_IMINSPD, 0.3f);
+PARAM_DEFINE_FLOAT(GND_RATE_IMINSPD, 1.0f);