Rover: Integration of rover quick tune feature

[bijuthaj]

Purpose

The changes include the integration of quick tune feature for rover. The implementation is based on the LUA script of same feature here
https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/applets/rover-quicktune.lua

Approach

The user can perform the quick tune from the circle mode same as that of the LUA script. RCx_OPTION 181(Quick Tune) can be configured to trigger the tuning from the CIRCLE mode. Please refer the read me of the LUA script implementation https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/applets/rover-quicktune.md

Testing performed

Before tuning

After tuning

[george-hawkins]

Wow - this looks impressive.

Is there any data to confirm that it produces the same results as the original Lua script (given the same inputs)?

If this works as expected, it's a great addition to the Rover codebase, allowing users of cheaper FCs to auto-tune their builds.

I hope @rmackay9 or others will have the time needed to take it up and get it merged 👍