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

modules/imu/ins_task.c

@@ -77,12 +77,12 @@ static void InitQuaternion(float *init_q4)
         init_q4[i + 1] = axis_rot[i] * sinf(angle / 2.0f); // 轴角公式,第三轴为0(没有z轴分量)
 }
 
-attitude_t *INS_Init(void)
+INS_t *INS_Init(void)
 {
     if (!INS.init)
         INS.init = 1;
     else
-        return (attitude_t *)&INS.Gyro;
+        return &INS;
 
     HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
 
@@ -112,7 +112,7 @@ attitude_t *INS_Init(void)
     // noise of accel is relatively big and of high freq,thus lpf is used
     INS.AccelLPF = 0.0085;
     DWT_GetDeltaT(&INS_DWT_Count);
-    return (attitude_t *)&INS.Gyro; // @todo: 这里偷懒了,不要这样做! 修改INT_t结构体可能会导致异常,待修复.
+    return &INS;
 }
 
 /* 注意以1kHz的频率运行此任务 */