refactor: replace vision error_x/y with measure/ref in 0xA5 frame

Change 0xA5 frame from 2-float (error_x, error_y) to 4-float
(measure_x, ref_x, measure_y, ref_y) so PIDCalculate receives
actual measurement and reference values internally computing error.

application/cmd/robot_cmd.h

@@ -1,6 +1,8 @@
 #ifndef ROBOT_CMD_H
 #define ROBOT_CMD_H
 
+#define VISION_PID_OUTPUT_YAW_REVERSE 1
+#define VISION_PID_OUTPUT_PITCH_REVERSE 0
 /**
  * @brief 机器人核心控制任务初始化,会被RobotInit()调用
  */