mecanum: deprecate RM_MISS_SPD_DEF

ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum

@@ -24,7 +24,6 @@ param set-default RM_MAX_THR_YAW_R 7.5
 param set-default RM_YAW_P 5
 param set-default RM_YAW_I 0.1
 param set-default RM_MAX_YAW_RATE 180
-param set-default RM_MISS_SPD_DEF 3
 param set-default RM_MISS_VEL_GAIN 1
 param set-default RM_SPEED_I 0.01
 param set-default RM_SPEED_P 0.1

msg/RoverMecanumSetpoint.msg

@@ -5,7 +5,7 @@ float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized forward s
 float32 lateral_speed_setpoint            # [m/s] Desired lateral speed
 float32 lateral_speed_setpoint_normalized # [-1, 1] Desired normalized lateral speed
 float32 yaw_rate_setpoint                 # [rad/s] Desired yaw rate
-float32 yaw_rate_setpoint_normalized      # [-1, 1] Desired normalized yaw rate
+float32 speed_diff_setpoint_normalized    # [-1, 1] Normalized speed difference between the left and right wheels
 float32 yaw_setpoint 	                  # [rad] Desired yaw (heading)
 
 # TOPICS rover_mecanum_setpoint

src/modules/rover_mecanum/RoverMecanumGuidance/RoverMecanumGuidance.cpp

@@ -41,7 +41,7 @@ using namespace time_literals;
 RoverMecanumGuidance::RoverMecanumGuidance(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
-	_max_velocity_magnitude = _param_rm_miss_spd_def.get();
+	_max_velocity_magnitude = _param_rm_max_speed.get();
 	_rover_mecanum_guidance_status_pub.advertise();
 }
 
@@ -195,13 +195,9 @@ void RoverMecanumGuidance::updateWaypoints()
 	_waypoint_transition_angle = acosf(cosin);
 
 	// Waypoint cruising speed
-	if (position_setpoint_triplet.current.cruising_speed > FLT_EPSILON) {
-		_max_velocity_magnitude = math::constrain(position_setpoint_triplet.current.cruising_speed, 0.f,
-					  _param_rm_max_speed.get());
-
-	} else {
-		_max_velocity_magnitude = _param_rm_miss_spd_def.get();
-	}
+	_max_velocity_magnitude = position_setpoint_triplet.current.cruising_speed > FLT_EPSILON ? math::constrain(
+					  position_setpoint_triplet.current.cruising_speed, 0.f,
+					  _param_rm_max_speed.get()) : _param_rm_max_speed.get();
 
 	// Waypoint yaw setpoint
 	if (PX4_ISFINITE(position_setpoint_triplet.current.yaw)) {

src/modules/rover_mecanum/RoverMecanumGuidance/RoverMecanumGuidance.hpp

@@ -133,7 +133,6 @@ private:
 		(ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad,
 		(ParamFloat<px4::params::RM_MAX_JERK>) _param_rm_max_jerk,
 		(ParamFloat<px4::params::RM_MAX_ACCEL>) _param_rm_max_accel,
-		(ParamFloat<px4::params::RM_MISS_SPD_DEF>) _param_rm_miss_spd_def,
 		(ParamFloat<px4::params::RM_MAX_YAW_RATE>) _param_rm_max_yaw_rate,
 		(ParamFloat<px4::params::RM_MISS_VEL_GAIN>) _param_rm_miss_vel_gain
 	)

src/modules/rover_mecanum/module.yaml

@@ -173,17 +173,6 @@ parameters:
         decimal: 2
         default: 0.5
 
-      RM_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: 1
-
       RM_MISS_VEL_GAIN:
         description:
           short: Tuning parameter for the velocity reduction during waypoint transition