feat: omni/steering deformable infantry support - #73

Merged

creeper5820 merged 15 commits into

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merge/deformable-infantry-refactor

May 7, 2026

Commits on May 7, 2026

feat: Add math utils for deformable infantry calculation
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cc5fd62
feat: Add hardware impl of deformable-infantry
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6299844
refactor: Update lk motor config and add new kind of motor support
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6c9a1b8
chore: Rename the header of adrc impl
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9f85510
feat: Update qcp solver with new calculation target support
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2447df0
feat: Add pitch encoder mode for two_axis_gimbal_solver
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09266bf
feat: Update referee status component with more protocol support
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8f68500
feat: Add ui component for deformable infantry
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d14f3ae
chore: Update plugins.xml of rmcs_core
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c05df20
fix: Remove unused hard sync, fix header naming error and replace dji motor with correct version
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e956f9e
chore: Modify the spin ratio of deformable omni infantry
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ef38118
chore: Update lk motor config and adapt relevant parameters
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54ac075
refactor: Rename active suspension PID params to semantic names (pitch_kp/kd, roll_kp/kd)
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b209696
chore: Update adrc doc
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5ed0191
refactor: rename identifiers, move initializers to NSDMI, add status service, reset ADRC state on disable
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57d42be