wip: add dynamic yaw limits to auto aim and remove unused package fro…

[creeper5820]

…m cmake

本次修改为自瞄链路加入了动态 yaw 限制，并同步调整了火控接口与配置：

• 新增 /auto_aim/yaw_velocity 输入，AutoAimComponent 会根据 yaw 角速度估算并传递 max_yaw_vel、max_yaw_acc。
• AutoAim::Context 增加 yaw 相关动态约束字段，主循环与弹道/开火控制流程改为使用这些运行时限制。
• FireControllerV2 重构为通过 State 结构传入时间、姿态和动态约束，update 接口随之调整。
• 配置与测试构建中移除了不再使用的 max_acc、max_vel 以及 TinyMPC 相关 CMake 拉取逻辑。
• README 补充了新的自瞄输入说明及极限射击窗口估计相关内容。

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro

Run ID: f48aa1fc-48b6-42d1-b178-5e56655c0bb3

📥 Commits

Reviewing files that changed from the base of the PR and between 02a130b and b30c45e.

📒 Files selected for processing (8)

• README.md
• config/config.yaml
• src/component.cpp
• src/kernel/auto_aim.cpp
• src/kernel/auto_aim.hpp
• src/kernel/fire_control.cpp
• src/kernel/fire_control.hpp
• test/CMakeLists.txt

💤 Files with no reviewable changes (2)

• test/CMakeLists.txt
• config/config.yaml

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Walkthrough

本次改动新增 /auto_aim/yaw_velocity 输入，用于在运行时估计 max_yaw_vel/max_yaw_acc 并通过 AutoAim::Context 传递；FireControllerV2::update 接口由离散参数改为统一 State 结构体，攻击窗口与瞄准计算相应使用动态限值；同时移除了 config.yaml 中的静态 max_vel/max_acc 配置以及测试构建中 TinyMPC 的 FetchContent 逻辑。

Changes

动态 yaw 速度/加速度约束

Layer / File(s)	Summary
组件层新增 yaw_velocity 输入与限值计算 src/component.cpp, README.md	新增 /auto_aim/yaw_velocity 输入接口，跟踪历史速度与时间戳，通过差分估计加速度，得到的最大速度/加速度写入上下文，并在 README 补充说明。
AutoAim 上下文与主循环使用限值 src/kernel/auto_aim.hpp, src/kernel/auto_aim.cpp	Context 新增 max_yaw_vel(10.0)/max_yaw_acc(200.0)默认值，Command 初始化写法微调；主循环从当前上下文读取覆盖这两个值并纳入日志输出。
FireControllerV2 接口改为 State 并使用动态限值 src/kernel/fire_control.hpp, src/kernel/fire_control.cpp, src/kernel/auto_aim.cpp	update 接口由 (Timestamp, yaw, pitch) 改为单一 State（含 timestamp/yaw/pitch/max_yaw_vel/max_yaw_acc）；内部缓存字段合并为 state，攻击窗口计算与瞄准评估改用 state.max_yaw_vel/max_yaw_acc 及 state.yaw/pitch；主循环调用方式相应更新。
配置与构建清理 config/config.yaml, test/CMakeLists.txt	移除 fire_control 下静态的 max_acc/max_vel 配置项；移除测试构建中 TinyMPC 的 FetchContent 拉取逻辑及相关编译选项。

Estimated code review effort: 3 (Moderate) | ~25 minutes

Sequence Diagram(s)

sequenceDiagram
  participant Gimbal
  participant AutoAimComponent
  participant AutoAimContext as AutoAim::Context
  participant AutoAimLoop as AutoAim主循环
  participant FireControllerV2

  Gimbal->>AutoAimComponent: yaw_velocity(rad/s)
  AutoAimComponent->>AutoAimComponent: 差分估算max_yaw_acc/max_yaw_vel
  AutoAimComponent->>AutoAimContext: ctx.max_yaw_vel / ctx.max_yaw_acc
  AutoAimLoop->>AutoAimContext: 读取max_yaw_vel/max_yaw_acc
  AutoAimLoop->>FireControllerV2: update(State{timestamp,yaw,pitch,max_yaw_vel,max_yaw_acc})
  FireControllerV2->>FireControllerV2: get_attack_window()使用动态限值

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Possibly related PRs

• Alliance-Algorithm/rmcs_auto_aim_v2#64: 同样重构了 FireControllerV2 的 update 接口与 State 相关约束逻辑，属于同一控制器接口层面的直接衔接改动。

Suggested reviewers: heyeuu

Poem

兔耳竖起测风向，
云台转速心中量，
最大加速最大航，
一键传入State箱，
攻击窗口更明朗，
蹦跳庆祝新战场！🐇✨

🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	标题准确概括了动态 yaw 限制和移除未使用 CMake 依赖这两个主要改动。
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

✨ Finishing Touches

📝 Generate docstrings

• Create stacked PR
• Commit on current branch

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch feat/dynamic-yaw-limits

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