Differential: Control structure update

[chfriedrich98]

Solved Problem

Continuation of #24836.

This PR updates the differential module to the following control structure:

This is done to prepare the rover modules (and the RoverSpecificSetpoints) for access through API and is achieved through the following steps:

1. Seperate Actuator Control: This streamlines the Input/Output flow of the rover specific uORB messages.
2. Update Position Control: So far, in auto and manual position mode, position control directly published RoverVelocitySetpoints.
   Position control now always turns a RoverPositionSetpoint into a RoverVelocitySetpoint which further streamlines the Input/Output flow of the rover specific uORB messages.
3. Centralize mode management, resets, checks and setpoint generation: This is now all done in RoverDifferential. Based on the control mode, it will generate RoverSetpoints and update the necessary controllers . Further, sanity checks are now only performed on parameter or control mode changes.

Tests

Tested in SITL
Hardware tests:

• Manual Mode:
  
• Acro Mode
  
• Stab Mode
  
• Position Mode
  
• Auto Mode
  

[Pedro-Roque]

Just wanted to say Great Work @chfriedrich98 ! (on this and the other rover modules)

[chfriedrich98]

@Pedro-Roque Thank you, i appreciate that!