refactor: manual mode from absolute setpoint to velocity control, remove auto-enable at motor init

Manual mode now receives angular velocity (degrees/s) via 0xA6 frame instead of
absolute angle reference. The firmware integrates velocity * dt into gimbal angle ref.
Motors are no longer auto-enabled at DMMotorInit — they stay disabled until a mode
switch out of DEBUG. Extract ROBOT_CMD_DELAY macro to replace magic number.
Fix "volity" typo → "velocity" and update docs/protocol comments accordingly.

application/cmd/robot_cmd.c

@@ -247,11 +247,11 @@ static void VisionTracking()
         Kalman_Filter_Update(&pitch_error_kf);
         filtered_pitch_error = pitch_error_kf.FilteredValue[0];
 
-        float yaw_increment   = PIDCalculate(&vision_yaw_pid, filtered_yaw_error, 0);
-        float pitch_increment = PIDCalculate(&vision_pitch_pid, filtered_pitch_error, 0);
+        float yaw_degree_velocity   = PIDCalculate(&vision_yaw_pid, filtered_yaw_error, 0);
+        float pitch_degree_velocity = PIDCalculate(&vision_pitch_pid, filtered_pitch_error, 0);
 
-        gimbal_yaw_ref   += 0.001f * yaw_increment;
-        gimbal_pitch_ref += 0.001f * pitch_increment;
+        gimbal_yaw_ref   += 0.001f *ROBOT_CMD_DELAY * yaw_degree_velocity;
+        gimbal_pitch_ref += 0.001f *ROBOT_CMD_DELAY * pitch_degree_velocity;
     }
 
     if (gimbal_pitch_ref > 30.0f)
@@ -269,8 +269,8 @@ static void ManualMode()
     if (vision_data.manual_updated)
     {
         vision_data.manual_updated = 0;
-        gimbal_yaw_ref   = vision_data.yaw_ref;
-        gimbal_pitch_ref = vision_data.pitch_ref;
+        gimbal_yaw_ref   += 0.001f *ROBOT_CMD_DELAY * vision_data.yaw_degree_velocity;
+        gimbal_pitch_ref += 0.001f *ROBOT_CMD_DELAY * vision_data.pitch_degree_velocity;
     }
 
     if (gimbal_pitch_ref > 30.0f)

application/robot_def.h

@@ -5,6 +5,9 @@
 #include "ins_task.h"
 #include "stdint.h"
 
+// 机器人核心任务的延时时间(ms)
+#define ROBOT_CMD_DELAY 2
+
 /* 开发板类型定义 */
 #define ONE_BOARD // 单板控制整车
 

application/robot_task.h

@@ -113,6 +113,6 @@ __attribute__((noreturn)) void StartROBOTTASK(void *argument)
         robot_dt = DWT_GetTimeline_ms() - robot_start;
         if (robot_dt > 5)
             LOGERROR("[freeRTOS] ROBOT core Task DELAY dt=%.3f", robot_dt);
-        osDelay(2);
+        osDelay(ROBOT_CMD_DELAY);
     }
 }