Refactor omni-b and add omni-c hardware - #95

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ZGZ713912 wants to merge 86 commits into

merge/deformable

Commits on Aug 10, 2026

chore: Update infrastructure scripts, CI and build config
creeper5820
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a29ed69
feat: Update rmcs_msgs messages and rmcs_utility
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c573262
feat(hardware): Add VT13 remote control and update device drivers
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6f94a49
feat(controller): Improve shared controllers and add value collector
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688af64
feat(tools): Add system identification tools
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ce19b6d
feat(auto_aim): Integrate auto_aim v2 as submodule
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8d9a286
feat(sentry): Add sentry robot with climber, navigation and decision
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21ebb97
feat(hero): Rework hero with six-friction steering chassis
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08e3c7d
feat(infantry): Update omni infantry and drop steering infantry
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80cb37c
feat(deformable-infantry): Rework deformable chassis and add omni-b
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13ca2cc
feat(flight): Update flight hardware and add PX4 vision bridge
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a27e3d1

Commits on Aug 11, 2026

feat: Merge deformable-infantry with three-board omni support

creeper5820
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05da2e4
fix(deformable-infantry): delete imu_board in deformable_infantry
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44b91d0
wip: Adapt imu snapshot sync with hikcamera

creeper5820
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52adbf5
wip: Update librmcs version and adjust deformable infantry pid config

creeper5820
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a7eb0f6
feat: Add value collector and update auto aim ui

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d246805
feat: Add some utils

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e9567fb
chore: Update config

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21eb0e4
chore: Update script parameter and robot config

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e29942e
chore: Update config

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1ef9a19
feat: success buff

qzhhhi
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29a87d8
update after merge main

dwx5
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ecb48be
add yaw brake

dwx5
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c6bcd4e
six-friction

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f46891c
1、lk_motor: multiple angle dynamically transform

dwx5
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5084c01
vt13 test (rmcs_board need ： chore(rmcs_board): Raise UART0 baudrate for temporary debugging by qzhhhi · Pull Request #55 · Allia)

qzhhhi
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c6751a7
friction_sweep and parameter changes

dwx5
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fea28b4
stable

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56e87d5
wip: Rebase with main branch

creeper5820
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0504ae8
parameter changes for 12m/s

dwx5
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82b90ae
wip: Adapt auto aim for hardware and clean config

creeper5820
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9967647
wip: Adapt auto aim control

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f123fa6
chore: Modify hero config

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9d338b4
wip: Merge hero and infantry 3/4, remove unused robot

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1a7d3d9
fix: Correct hero friction order

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e5772c2
fix(hero): Update auto-aim config and should_control gating

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c6793a3
merge(robot): Merge sentry impl into this branch

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c2b74e8
fix: No response of switching item in scan-remote

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fb9518c
feat: Add VT13 remote control and dual control arbitration (#93)

floatpigeon
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1cc332c
chore: Clean up code and apply format

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efd99d7
feat: Refine auto-aim fire control and bringup configs

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1e67576
wip: Adjust 17mm bullet feeder behavior, improve rmcs host util and

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318c1ca
wip: Develop sentry navigation

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057da3f
dev(robot): Sentry update (#96)

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152aed1
wip(robots): Flight development (#94)

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5a61c94
chore: Add optional flag for robots and complete rmcs_msgs format

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4c49549
wip(robots): Sentry development (#97)

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d89b0f2
wip(robots): Sentry development (#98)

zlq04222
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e1ebf4e
wip: Sentry climber and stuck detection while rotating

creeper5820
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32aa7c2
wip: Adapt auto aim config

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dd7c807
chore: Modify sentry param

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6d3b857
chore: Tune sentry gimbal PID params and add steering wheel integral limits (#99)

zlq04222
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1b236dd
feat: Add top yaw velocity feedforward to reduce sentry auto-aim tracking lag

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80e2705
wip: Modify sentry config

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e0161cc
chore: Update configuration

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a1d894a
chore: Update configuration

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51f3fc8
fix: rune not tracking, bump auto aim

qzhhhi
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7a765cc
feat(deformable-infantry): rebase omni hardware onto dev/robots
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7093809
feat(chassis): rebase wireless charging mode onto dev/robots
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7937abf
feat: Add static assertions for data structure sizes
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4694b13
feat(chassis): update wireless charging mode parameters
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ed8b5a9
feat(deformable): add wireless charging joint posture with offset-directed leg lifting
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f1ff8f4
feat(statue): fix field GameRobotHp
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1c5cc36
feat(chassis): update spin recovery logic and enhance climbing behavior
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7d01e58
chore(deformable): adjust auto aim parameters for improved performance
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491f751
fix(yaml): adjust auto aim component pitch
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f8dabd6
feat(chassis): enhance wireless charging parameters and logic
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d987ef5
fix(suspension): adjust suspension parameters for improved performance
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d62a08f
feat(friction_wheel): add rotary knob input and low mode functionality
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5565d12
Add ladar message transmit

floatpigeon
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c9e695a
feat(deformable): simplify charging posture, add yaw packet logging
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f0e97d9
feat(suspension): delete CTRL suspension mode,delete charge special mode ,fix parameter
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340ca92
fix(config): adjust pitch and angle parameters for auto aim and chassis controller
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fafe81b
feat(WIRELESS_CHARGING): enhance wireless charging mode handling and posture adjustments
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b3552ba
feat: autoaim output path

qzhhhi
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e5e14e8
chore(suspension): change susension parameter
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e919c4f
feat(controller): enhance gimbal and chassis control logic with new parameters and functions
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725e15f
feat(chassis): update joint posture state with suspension mode handling
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ed96ec6
feat: rune ff works

qzhhhi
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ec3c6c7
feat: revert old deformable chassis to a

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3658f18
feat: adjust para

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3b564d3
feat: update deformable chassis references and adjust auto aim parameters
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2e0dc41
fix: fix HeatController instead of HeatControllerRune"
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aef4a39
feat: add MVSUSB3Core and ROS mavlink header installation to bootstrap script; remove unused yaw feedback timeouts from gimbal controller and chassis files
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9a139dd
chore: remove deformable debug logging and dead code
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132b2ae
chore: remove unused fit_gravity_ff script and gimbal_value_collector; delete ladar_package_transmit header
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50a0ddf