implement code suggestions

src/modules/logger/logged_topics.cpp

@@ -104,7 +104,7 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("px4io_status");
 	add_topic("radio_status");
 	add_topic("rover_ackermann_guidance_status", 100);
-	add_topic("rover_ackermann_status", 100);
+	add_optional_topic("rover_ackermann_status", 100);
 	add_topic("rtl_time_estimate", 1000);
 	add_topic("rtl_status", 2000);
 	add_optional_topic("sensor_airflow", 100);

src/modules/rover_ackermann/RoverAckermann.cpp

@@ -53,12 +53,13 @@ void RoverAckermann::updateParams()
 {
 	ModuleParams::updateParams();
 
-	if (_param_ra_max_accel.get() > 0 && _param_ra_max_speed.get() > 0) {
+	if (_param_ra_max_accel.get() > FLT_EPSILON && _param_ra_max_speed.get() > FLT_EPSILON) {
 		_throttle_with_accel_limit.setSlewRate(_param_ra_max_accel.get() / _param_ra_max_speed.get());
 	}
 
-	if (_param_ra_max_steering_rate.get() > 0 && _param_ra_max_steer_angle.get() > 0) {
-		_steering_with_rate_limit.setSlewRate(_param_ra_max_steering_rate.get() / _param_ra_max_steer_angle.get());
+	if (_param_ra_max_steering_rate.get() > FLT_EPSILON && _param_ra_max_steer_angle.get() > FLT_EPSILON) {
+		_steering_with_rate_limit.setSlewRate((M_DEG_TO_RAD_F * _param_ra_max_steering_rate.get()) /
+						      _param_ra_max_steer_angle.get());
 	}
 }
 
@@ -111,22 +112,24 @@ void RoverAckermann::Run()
 		break;
 	}
 
-	// Slew rates
+	// Timestamps
 	hrt_abstime timestamp_prev = _timestamp;
 	_timestamp = hrt_absolute_time();
 	const float dt = (_timestamp - timestamp_prev) * 10e-6f;
 
-	if (_param_ra_max_accel.get() > 0 && _param_ra_max_speed.get() > 0
+	// Acceleration slew rate
+	if (_param_ra_max_accel.get() > FLT_EPSILON && _param_ra_max_speed.get() > FLT_EPSILON
 	    && _nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO
-	    && fabsf(_motor_setpoint.throttle) > fabsf(_throttle_with_accel_limit.getState())) { // Acceleration slew rate
+	    && fabsf(_motor_setpoint.throttle) > fabsf(_throttle_with_accel_limit.getState())) {
 		_throttle_with_accel_limit.update(_motor_setpoint.throttle, dt);
 
 	} else {
 		_throttle_with_accel_limit.setForcedValue(_motor_setpoint.throttle);
 	}
 
-	if (_param_ra_max_steering_rate.get() > 0 && _param_ra_max_steer_angle.get() > 0
-	    && _nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO) { // Steering slew rate
+	// Steering slew rate
+	if (_param_ra_max_steering_rate.get() > FLT_EPSILON && _param_ra_max_steer_angle.get() > FLT_EPSILON
+	    && _nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO) {
 		_steering_with_rate_limit.update(_motor_setpoint.steering, dt);
 
 	} else {
@@ -141,7 +144,7 @@ void RoverAckermann::Run()
 	rover_ackermann_status.actual_speed = _actual_speed;
 	_rover_ackermann_status_pub.publish(rover_ackermann_status);
 
-	// Publish to wheel motors
+	// Publish to motor
 	actuator_motors_s actuator_motors{};
 	actuator_motors.reversible_flags = _param_r_rev.get();
 	actuator_motors.control[0] = _throttle_with_accel_limit.getState();

src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp

@@ -102,7 +102,7 @@ RoverAckermannGuidance::motor_setpoint RoverAckermannGuidance::purePursuit(const
 		mission_finished = mission_result.finished;
 	}
 
-	if (nav_state == 5
+	if (nav_state == NAVIGATION_STATE_AUTO_RTL
 	    && get_distance_to_next_waypoint(_curr_pos(0), _curr_pos(1), _next_wp(0),
 					     _next_wp(1)) < _param_ra_acc_rad_def.get()) { // Return to launch
 		mission_finished = true;

src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.hpp

@@ -56,6 +56,7 @@
 #include <lib/pid/pid.h>
 
 using namespace matrix;
+static constexpr uint8_t NAVIGATION_STATE_AUTO_RTL = 5;
 
 /**
  * @brief Class for ackermann drive guidance.

src/modules/rover_ackermann/module.yaml

@@ -133,7 +133,9 @@ parameters:
       RA_MISS_VEL_GAIN:
         description:
           short: Tuning parameter for the velocity reduction during cornering
-          long: Lower value -> More velocity reduction during cornering
+          long: |
+            The cornering speed is equal to the inverse of the acceptance radius of the WP multiplied with this factor.
+            Lower value -> More velocity reduction during cornering.
         type: float
         min: 0.1
         max: 100
@@ -143,12 +145,12 @@ parameters:
 
       RA_MISS_VEL_RED:
         description:
-          short: Scaling factor on the distance to the WP at which the cornering slow down effect starts
+          short: Tuning parameter for the start of the velocity reduction during cornering
           long: |
-            This is a multiplicative factor on the acceptance radius of the waypoints.
-            A value higher than one means that the rover will start to slow down before it reaches the
-            acceptance radius of the waypoint. This means the rover could already reach the reduced velocity
-            before it enters the corner, which can help reduce the risk of the rover rolling over.
+            The rover will start slowing down at a distance of acceptance_radius * RA_MISS_VEL_RED
+            to the WP s.t. it could reach the reduced velocity before it enters the corner.
+            This can help to reduce the risk of the rover rolling over during corners.
+            Higher value -> Rover starts the velocity reduction further from the waypoint.
         type: float
         min: 1.0
         max: 100
@@ -206,9 +208,9 @@ parameters:
         description:
           short: Maximum steering rate for the rover
         type: float
-        unit: rad/s
+        unit: deg/s
         min: -1
-        max: 100
+        max: 360
         increment: 0.01
         decimal: 2
         default: -1