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Turret 云台控制程序并完善构建配置 By steven / martin - #162
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pitch 电机从 can2/0x20A 改为 can1/0x208，yaw 电机 ID 从 0x209 改为 0x206。
pitch 与 yaw 的 Motor6020 统一使用 0x1FF 作为接收 ID，需与当前 CAN 总线上电机反馈的实际 ID 配置保持一致。
更新 pitch/yaw offset，修正 pitch 角度读取的 IMU 轴，关闭 PID 状态串口输出，并将摩擦轮准备阶段目标转速降至 100。
pitch 角度改为从 INS_angle[2] 读取，并对传入 UpdateIMU 的 pitch/yaw 角度取反；同时调整 pitch_max、yaw_max、yaw_circle 及 pitch_inverted/yaw_inverted 标志，使云台初始化参数与当前结构匹配。
重新整定 pitch/yaw theta 与 omega 环的 kp、kd 及输出/微分滤波系数，并将 yaw 最大角度由 0.5π 提高到 0.55π。
我当时真是傻逼完了
跟随 #151 的驱动框架重构，将 gimbal 程序中的 MotorCANBase / MotorPWMBase 统一替换为 DjiMotorBase / PWMMotorBase，并将 dbus.h 更新为 dji_dbus.h；同时用 GetLastUptime() 替代已移除的 dbus timestamp 字段，并清理无用的 dbus_package.h 引用。
仅调整缩进、换行与注释对齐，重新排版数组初始化、线程属性与函数参数等内容，不涉及任何逻辑变更。
Rinsutoringu
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Oct 21, 2026
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RinChord not watch it, but it is out of date.
Go ahead!!!
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引入 Turret 云台子项目，整合 IMU 校准、云台控制、发射与摩擦轮控制、遥控器和裁判系统通信、蜂鸣器提示等任务，使云台具备完整的控制与调试能力。