Implemented GND_W_RMAX param.

[SalimTerryLi]

Please use PX4 Discuss or Slack to align on pull requests if necessary. You can then open draft pull requests to get early feedback.

Describe problem solved by the proposed pull request
My differential rover turns around too quickly so I make use of GND_W_RMAX parameter to limit its steering rate.

Test data / coverage
Tested through gazebo. It worked.

Additional context
This solution creates a limiter on pid output of yaw control. So this parameter ranges from 0 to 1. For normal rovers, this value may be set to 1.0 . For differential ones, a value of 0.5 works fine.

[dagar]

Can you check the test failure? Minor code style changes. Try make check_format locally.

http://ci.px4.io:8080/blue/organizations/jenkins/PX4%2FFirmware/detail/PR-12041/1/pipeline

[SalimTerryLi]

Can you check the test failure? Minor code style changes. Try make check_format locally.

http://ci.px4.io:8080/blue/organizations/jenkins/PX4%2FFirmware/detail/PR-12041/1/pipeline

Done.

[julianoes]

@SalimTerryLi thanks a lot, that's great. If this is ready to be merged you can remove the "draft" and make it a real pull request.

@ItsTimmy would be good if you can review and test this.

[SalimTerryLi]

@SalimTerryLi thanks a lot, that's great. If this is ready to be merged you can remove the "draft" and make it a real pull request.

@ItsTimmy would be good if you can review and test this.

But there is another problem. There would be some changes on QGC and document side such as the description and default values of this parameter. If not, nobody can turn it correctly. I don' t know how to make such a change on QGC.
Such as this one.

[julianoes]

I don' t know how to make such a change on QGC.

The way this works is that the param needs to be described correctly here:
https://github.com/PX4/Firmware/blob/b984411770da07f757ebaa2f72c5600386e81892/src/modules/gnd_att_control/gnd_att_control_params.c#L127-L140

It will then appear in QGC after a release.

[SalimTerryLi]

I don' t know how to make such a change on QGC.

The way this works is that the param needs to be described correctly here:

https://github.com/PX4/Firmware/blob/b984411770da07f757ebaa2f72c5600386e81892/src/modules/gnd_att_control/gnd_att_control_params.c#L127-L140

It will then appear in QGC after a release.

Thank you. I' ve added it.