fix: replace memcpy in PIDInit with explicit field assignment

The old approach used memcpy to copy PID_Init_Config_s into PIDInstance,
relying on identical struct layout at the beginning. This is fragile and
confusing. Now assigns each field explicitly.

modules/algorithm/controller.c

@@ -127,13 +127,20 @@ static void f_PID_ErrorHandle(PIDInstance *pid)
  */
 void PIDInit(PIDInstance *pid, PID_Init_Config_s *config)
 {
-    // config的数据和pid的部分数据是连续且相同的的,所以可以直接用memcpy
-    // @todo: 不建议这样做,可扩展性差,不知道的开发者可能会误以为pid和config是同一个结构体
-    // 后续修改为逐个赋值
     memset(pid, 0, sizeof(PIDInstance));
-    // utilize the quality of struct that its memeory is continuous
+
-    memcpy(pid, config, sizeof(PID_Init_Config_s));
+    pid->Kp                = config->Kp;
-    // set rest of memory to 0
+    pid->Ki                = config->Ki;
+    pid->Kd                = config->Kd;
+    pid->MaxOut            = config->MaxOut;
+    pid->DeadBand          = config->DeadBand;
+    pid->Improve           = config->Improve;
+    pid->IntegralLimit     = config->IntegralLimit;
+    pid->CoefA             = config->CoefA;
+    pid->CoefB             = config->CoefB;
+    pid->Output_LPF_RC     = config->Output_LPF_RC;
+    pid->Derivative_LPF_RC = config->Derivative_LPF_RC;
+
     DWT_GetDeltaT(&pid->DWT_CNT);
 }