Rover: Add manual speed scaled steering option

Rover/Parameters.cpp

@@ -667,6 +667,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("GUID_OPTIONS", 52, ParametersG2, guided_options, 0),
 
+    // @Param: MANUAL_OPTIONS
+    // @DisplayName: Manual mode options
+    // @Description: Manual mode specific options
+    // @Bitmask: 0:Enable steering speed scaling
+    // @User: Advanced
+    AP_GROUPINFO("MANUAL_OPTIONS", 53, ParametersG2, manual_options, 0),
+
     AP_GROUPEND
 };
 

Rover/Parameters.h

@@ -425,6 +425,9 @@ public:
 
     // guided options bitmask
     AP_Int32 guided_options;
+
+    // Rover options
+    AP_Int32 manual_options;
 };
 
 extern const AP_Param::Info var_info[];

Rover/defines.h

@@ -102,3 +102,8 @@ enum frame_class {
     FRAME_BOAT = 2,
     FRAME_BALANCEBOT = 3,
 };
+
+// manual mode options
+enum ManualOptions {
+    SPEED_SCALING = (1 << 0),
+};

Rover/mode_manual.cpp

@@ -37,6 +37,6 @@ void ModeManual::update()
 
     // copy RC scaled inputs to outputs
     g2.motors.set_throttle(desired_throttle);
-    g2.motors.set_steering(desired_steering, false);
+    g2.motors.set_steering(desired_steering, (g2.manual_options & ManualOptions::SPEED_SCALING));
     g2.motors.set_lateral(desired_lateral);
 }