Rover control: Support missions without global position available

[AmeliaEScott]

Describe problem solved by the proposed feature
The current Rover position controller (Updated in #12239 ) relies solely upon global position. As support is added for wheel encoders, optical flow, ultra wide band, and other localization methods, the controller will need to be updated to navigate based on local position.

Describe your preferred solution
Waypoint coordinates, given in global coordinates, should be projected into the vehicle's local frame. This is how the multicopter controller currently works. However, the L1 controller used by the rover expects global coordinates, so this will need to be handled.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[atyshka]

Any progress?