fix(rover): actively stop vehicle if not armed (#28840)

* fix(rover): actively stop vehicle if not armed

* fix(rover): update timestamp upon calling stopVehicle()

src/modules/rover_ackermann/AckermannActControl/AckermannActControl.cpp

@@ -113,6 +113,7 @@ void AckermannActControl::updateActControl()
 
 void AckermannActControl::stopVehicle()
 {
+	_timestamp = hrt_absolute_time();
 	actuator_motors_s actuator_motors{};
 	actuator_motors.reversible_flags = _param_r_rev.get();
 	actuator_motors.control[0] = 0.f;

src/modules/rover_ackermann/RoverAckermann.cpp

@@ -106,6 +106,9 @@ void RoverAckermann::Run()
 		reset();
 		_ackermann_act_control.stopVehicle();
 		_was_armed = false;
+
+	} else {
+		_ackermann_act_control.stopVehicle();
 	}
 
 	// reschedule backup

src/modules/rover_differential/DifferentialActControl/DifferentialActControl.cpp

@@ -101,6 +101,7 @@ Vector2f DifferentialActControl::computeInverseKinematics(float throttle, const
 
 void DifferentialActControl::stopVehicle()
 {
+	_timestamp = hrt_absolute_time();
 	actuator_motors_s actuator_motors{};
 	actuator_motors.reversible_flags = _param_r_rev.get();
 	actuator_motors.control[0] = 0.f;

src/modules/rover_differential/RoverDifferential.cpp

@@ -107,6 +107,9 @@ void RoverDifferential::Run()
 		reset();
 		_differential_act_control.stopVehicle();
 		_was_armed = false;
+
+	} else {
+		_differential_act_control.stopVehicle();
 	}
 
 	// reschedule backup

src/modules/rover_mecanum/MecanumActControl/MecanumActControl.cpp

@@ -118,6 +118,7 @@ Vector4f MecanumActControl::computeInverseKinematics(float throttle_body_x, floa
 
 void MecanumActControl::stopVehicle()
 {
+	_timestamp = hrt_absolute_time();
 	actuator_motors_s actuator_motors{};
 	actuator_motors.reversible_flags = _param_r_rev.get();
 	actuator_motors.control[0] = 0.f;

src/modules/rover_mecanum/RoverMecanum.cpp

@@ -107,6 +107,9 @@ void RoverMecanum::Run()
 		reset();
 		_mecanum_act_control.stopVehicle();
 		_was_armed = false;
+
+	} else {
+		_mecanum_act_control.stopVehicle();
 	}
 
 	// reschedule backup