- Gate rotate-mode compensation PI by active fleet omega and reset the
integrator/timer when idle, so releasing the joystick stops the cars
cleanly instead of drifting/self-rotating from a wound-up integral.
- Add conditional integration anti-windup in RotatePiTerm to reduce the
startup overshoot after the initial relative-pose spike.
- Raise translational P gain for faster startup correction.
- Superimpose body-frame compensation onto swerve rotation and add
MultiVehicleDbg / RotateDbg / RotatePoseDbg diagnostics.
Co-authored-by: Cursor <cursoragent@cursor.com>
ruifeng.zhouandCursor
d3abf0fb02