Add FleetCrabWalk startup motion config

MultiWheel/MultiWheelC/PilotConfig.cs

@@ -161,6 +161,9 @@ public class PilotConfig : MultiWheelPilotConfig
     [FieldMember(desc = "车队蟹行：路径方向相对启动时车队朝向夹角(deg，逆时针为正；路径在车右侧x度时填-x)")]
     public float FleetCrabAngleDeg = 45f;
 
+    [FieldMember(desc = "车队蟹行：AGV入口使用的车队世界系目标朝向(deg)")]
+    public float FleetCrabBodyWorldHeadingDeg = 0f;
+
     [FieldMember(desc = "车队蟹行：路径长度(mm)")]
     public float FleetCrabLengthMm = 2000f;
 
@@ -170,6 +173,9 @@ public class PilotConfig : MultiWheelPilotConfig
     [FieldMember(desc = "车队蟹行：速度命令加速度限制(m/s^2，<=0表示不限制)")]
     public float FleetCrabAccel = 0.2f;
 
+    [FieldMember(desc = "车队蟹行：预对齐后正式下发速度前5秒加速度(m/s^2，<=0表示不限制)")]
+    public float FleetCrabStartAccel = 0.01f;
+
     [FieldMember(desc = "车队蟹行：末端开始减速距离(mm)")]
     public float FleetCrabSlowDistance = 2000f;
 
@@ -185,6 +191,12 @@ public class PilotConfig : MultiWheelPilotConfig
     [FieldMember(desc = "车队蟹行：GCP舵角修正上限(deg)")]
     public float FleetCrabGcpThetaThreshold = 95f;
 
+    [FieldMember(desc = "车队蟹行：headingErr角度纠偏比例系数")]
+    public float FleetCrabDthLinearFac = 1f;
+
+    [FieldMember(desc = "车队蟹行：headingErr角度纠偏舵角限幅(deg)")]
+    public float FleetCrabDthLinearThreshold = 10f;
+
     [FieldMember(desc = "FleetCrab startup sync timeout(s)")]
     public float FleetCrabStartSyncTimeoutSec = 8f;