格式化代码

[llLeo306]

Summary by Sourcery

Extend control command interfaces for chassis and gimbal modes.

New Features:

• Add a chassis mode enumeration to represent small chassis modes instead of a simple boost flag.
• Extend the gimbal command structure to include angular velocities and accelerations for yaw, pitch, and roll.

Enhancements:

• Simplify headers by removing an unused array include from the command module interface.

[sourcery-ai]

Reviewer's Guide

This PR updates command data structures in CMD.hpp by introducing a chassis mode enum, replacing a boolean flag with this enum in the chassis command, extending the gimbal command with velocity/acceleration fields, and cleaning up an unused header include.

Class diagram for updated CMD command structures

classDiagram
  class CMD {
  }

  class Mode {
    <<enumeration>>
    CMD_SAFE
    CMD_RC_CTRL
    CMD_KEY_MOUSE_CTRL
    CMD_UART_CTRL
    CMD_AUTO_CTRL
  }

  class ChasStat {
    <<enumeration>>
    NONE
    BOOST
    STRETCH
  }

  class ChassisCMD {
    float x
    float y
    float z
    ChasStat self_define
  }

  class GimbalCMD {
    float yaw
    float pit
    float rol
    float yaw_dot
    float yaw_ddot
    float pit_dot
    float pit_ddot
    float rol_dot
    float rol_ddot
  }

  CMD .. Mode
  CMD .. ChasStat
  CMD .. ChassisCMD
  CMD .. GimbalCMD
  ChassisCMD --> ChasStat

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File-Level Changes

Change	Details	Files
Introduce a chassis mode enumeration and integrate it into the chassis command structure.	Add ChasStat enum class with NONE, BOOST, and STRETCH modes for chassis sub-modes. Replace the boolean boost flag in ChassisCMD with a ChasStat self_define field to represent custom chassis modes. Align and reformat fields in ChassisCMD for readability.	CMD.hpp
Extend gimbal command structure to support angular velocity and acceleration for each axis.	Add yaw_dot and yaw_ddot to GimbalCMD for yaw angular velocity and acceleration. Add pit_dot and pit_ddot to GimbalCMD for pitch angular velocity and acceleration. Add rol_dot and rol_ddot to GimbalCMD for roll angular velocity and acceleration. Reformat GimbalCMD field alignment for consistency.	CMD.hpp
Remove an unused standard library header include.	Delete the redundant header include to simplify dependencies.	CMD.hpp

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[sourcery-ai]

Hey - I've left some high level feedback:

• Since ChasStat uses int8_t as an underlying type, ensure the appropriate header (e.g., <cstdint>) is included in this or a common header so the type is always available.
• Replacing the boost flag with a ChasStat self_define enum changes the layout and semantics of ChassisCMD; double-check that all callers are updated accordingly and that there is a clear mapping from previous boost behavior to the new enum values.
• The new gimbal command fields (*_dot, *_ddot) and self_define in ChasStat are somewhat generic; consider clarifying their intended usage with more precise names or comments so future readers understand how these values should be produced and consumed.

Prompt for AI Agents

Please address the comments from this code review:

## Overall Comments
- Since `ChasStat` uses `int8_t` as an underlying type, ensure the appropriate header (e.g., `<cstdint>`) is included in this or a common header so the type is always available.
- Replacing the `boost` flag with a `ChasStat self_define` enum changes the layout and semantics of `ChassisCMD`; double-check that all callers are updated accordingly and that there is a clear mapping from previous `boost` behavior to the new enum values.
- The new gimbal command fields (`*_dot`, `*_ddot`) and `self_define` in `ChasStat` are somewhat generic; consider clarifying their intended usage with more precise names or comments so future readers understand how these values should be produced and consumed.

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