修复上电云台正方向问题，以及初步调好了底盘跟随PID，以及小陀螺模式下的运动偏移问题。

云台/Application/Task/Src/debug_task.c

@@ -35,6 +35,7 @@
 #include "attitude.h"
 #include "ins.h"
 #include "bmi088.h"
+#include "gimbal.h"
 #include <stdio.h>
 #include <math.h>
 
@@ -72,12 +73,14 @@ void debug_task(void const * argument)
 
 #if DEBUG_ATT_HEALTH
         int len = snprintf(line, sizeof(line),
-                           "yaw=%.2f pitch=%.2f roll=%.2f cvg=%u rdy=%u imu=%u an=%.2f gn=%.3f%s\r\n",
+                           "ecd=%u yaw=%.2f pitch=%.2f roll=%.2f cvg=%u rdy=%u imu=%u an=%.2f gn=%.3f%s\r\n",
+                           (unsigned)motor_yaw_gimbal.fdb.raw_angle,
                            att_deg_yaw, att_deg_pitch, att_deg_roll,
                            (unsigned)INS.ConvergeFlag, (unsigned)att_ready,
                            (unsigned)bmi088_online, an, gn, tail);
 #else
-        int len = snprintf(line, sizeof(line), "yaw=%.2f pitch=%.2f roll=%.2f\r\n",
+        int len = snprintf(line, sizeof(line), "ecd=%u yaw=%.2f pitch=%.2f roll=%.2f\r\n",
+                           (unsigned)motor_yaw_gimbal.fdb.raw_angle,
                            att_deg_yaw, att_deg_pitch, att_deg_roll);
 #endif
 

云台/Application/Task/Src/gimbal_task.c

@@ -1,5 +1,5 @@
 /* =============================================================================
- * gimbal_task.c - 云台控制任务(2ms)
+ * gimbal_task.c - 云台控制任务(2ms/500Hz)
  * 状态机:
  *   YAW_WAIT   等待"姿态就绪+云台电机在线"(遥控可后到)
  *   YAW_RUN    正常串级控制(符号用参数回退值,直至手势自检完成)
@@ -26,7 +26,7 @@
 #define CALIB_GESTURE_L_RL   400   // < 400 即最左
 #define CALIB_GESTURE_R_RL   1600  // > 1600 即最右
 #define CALIB_GESTURE_MS     500   // 保持时长
-#define CALIB_GESTURE_TICKS  (CALIB_GESTURE_MS / 2)  // 2ms 任务
+#define CALIB_GESTURE_TICKS  (CALIB_GESTURE_MS / 2)  // 2ms 任务(500Hz)
 
 typedef enum
 {