feat: add 0xA9 feedforward frame and wire feedforward controller to motor output

- host 0xA9 frame → master_machine decode → robot_cmd publish
  via gimbal_feedforward topic → gimbal subscribe → yaw_motor.feed_input
- add DM_Feedforward_Controller_s with Kp and feed_input fields
- add feedforward term (Kp * feed_input) to motor control output
- add DM_Feedforward_Kp to motor init config

application/gimbal/gimbal.c

@@ -11,6 +11,7 @@ static Publisher_t *gimbal_pub;
 static Subscriber_t *gimbal_sub;
 static Subscriber_t *motor_enable_sub;
 static Subscriber_t *motor_pid_sub;
+static Subscriber_t *feedforward_sub;
 static Gimbal_Upload_Data_s gimbal_feedback_data;
 static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv;
 
@@ -25,6 +26,7 @@ void GimbalInit()
     gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
     motor_enable_sub = SubRegister("motor_enable", sizeof(Motor_Enable_s));
     motor_pid_sub    = SubRegister("motor_pid", sizeof(Motor_PID_Tune_s));
+    feedforward_sub  = SubRegister("gimbal_feedforward", sizeof(Gimbal_Feedforward_s));
 
     /* ---- Yaw: DM-G6220, CAN1, TX=0x01, RX=0xF1, Velocity模式 ---- */
     DM_Motor_Init_Config_s yaw_config = {
@@ -50,6 +52,7 @@ void GimbalInit()
             .motor_type = DM_MOTOR,
         },
         .ctrl_mode = DM_MODE_VELOCITY,
+        .DM_Feedforward_Kp = 0.9f,
         .mit_kp = 0, .mit_kd = 0,
     };
     yaw_motor = DMMotorInit(&yaw_config);
@@ -87,10 +90,19 @@ void GimbalInit()
 
 void GimbalTask()
 {
-    SubGetMessage(gimbal_sub, &gimbal_cmd_recv);
-
-    DMMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw);
-    DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
+    /* 角度环参考值设定 */
+    if(SubGetMessage(gimbal_sub, &gimbal_cmd_recv))
+    {
+        DMMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw);
+        DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
+    }
+    
+    /* 前馈输入 */
+    static Gimbal_Feedforward_s feedforward_msg;
+    if (SubGetMessage(feedforward_sub, &feedforward_msg))
+    {
+        yaw_motor->feedforward_controller.feed_input = feedforward_msg.feedforward;
+    }
 
     /* 电机使能/失能控制 */
     static Motor_Enable_s enable_msg;