fix: remove attitude_t, unify with INS_t

- Delete attitude_t struct from ins_task.h
- INS_Init() returns INS_t* directly instead of casting from INS.Gyro offset
- Change Gimbal_Upload_Data_s.gimbal_imu_data to INS_t* pointer
- Update gimbal.c and robot_cmd.c accordingly

application/gimbal/gimbal.c

@@ -5,7 +5,7 @@
 #include "message_center.h"
 #include "general_def.h"
 
-static attitude_t *gimbal_IMU_data;
+static INS_t *gimbal_IMU_data;
 
 static Publisher_t *gimbal_pub;
 static Subscriber_t *gimbal_sub;
@@ -96,6 +96,6 @@ void GimbalTask()
         DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
     }
 
-    gimbal_feedback_data.gimbal_imu_data = *gimbal_IMU_data;
+    gimbal_feedback_data.gimbal_imu_data = gimbal_IMU_data;
     PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
 }