完善原地自转控制逻辑并加入纵向速度死区与实验绘图改进

Co-authored-by: Cursor <cursoragent@cursor.com>

MultiWheelC/PilotConfig.cs

@@ -26,7 +26,7 @@ public class PilotConfig : MultiWheelPilotConfig
     public float InPlaceRotateSpeed = 30f;
 
     [FieldMember(desc = "原地旋转：到位角度精度(deg)")]
-    public float InPlaceRotateArriveDeg = 1f;
+    public float InPlaceRotateArriveDeg = 1.5f;
 
     [FieldMember(desc = "原地旋转：起转前舵轮对齐精度(deg)")]
     public float InPlaceRotateWheelAlignDeg = 2f;
@@ -38,24 +38,25 @@ public class PilotConfig : MultiWheelPilotConfig
 
     #region 单车-临时
     [FieldMember(desc = "原地旋转Kp")]
-    public float InPlaceRotateKp = 0.2f;
-    // public float InPlaceRotateKp = 0.2f;
+    public float InPlaceRotateKp = 1.1f;
 
     [FieldMember(desc = "原地旋转Ki")]
-    public float InPlaceRotateKi = 0.01f;
-    // public float InPlaceRotateKi = 0.01f;
+    public float InPlaceRotateKi = 0f;
 
     [FieldMember(desc = "原地旋转Kd")]
     public float InPlaceRotateKd = 0f;
 
     [FieldMember(desc = "原地旋转积分限幅")]
-    public float InPlaceRotateMaxI = 0.01f;
+    public float InPlaceRotateMaxI = 0f;
+
+    [FieldMember(desc = "原地旋转最小有效角速度(deg/s)")]
+    public float InPlaceRotateMinimumSpeed = 1f;
 
     [FieldMember(desc = "原地旋转最大角速度(deg/s)")]
-    public float InPlaceRotateMaxSpeed = 30f;
+    public float InPlaceRotateMaxSpeed = 47.5f;
 
     [FieldMember(desc = "原地旋转角加速度(deg/s²)")]
-    public float InPlaceRotateAcc = 30f;
+    public float InPlaceRotateAcc = 60f;
 
     [FieldMember(desc = "原地旋转超时(s)")]
     public float InPlaceRotateTimeoutSec = 15f;