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/motor/motor_def.h

@@ -3,6 +3,7 @@
 
 #include "controller.h"
 #include "stdint.h"
+#include "bsp_can.h"
 
 #define LIMIT_MIN_MAX(x, min, max) (x) = (((x) <= (min)) ? (min) : (((x) >= (max)) ? (max) : (x)))