Fix fleet in-place rotation coordination

- Gate rotate-mode compensation PI by active fleet omega and reset the
  integrator/timer when idle, so releasing the joystick stops the cars
  cleanly instead of drifting/self-rotating from a wound-up integral.
- Add conditional integration anti-windup in RotatePiTerm to reduce the
  startup overshoot after the initial relative-pose spike.
- Raise translational P gain for faster startup correction.
- Superimpose body-frame compensation onto swerve rotation and add
  MultiVehicleDbg / RotateDbg / RotatePoseDbg diagnostics.

Co-authored-by: Cursor <cursoragent@cursor.com>

MultiWheel/MultiWheelC/PilotConfig.cs

@@ -12,6 +12,7 @@ public class PilotConfig : MultiWheelPilotConfig
     [FieldMember(desc = "[sync] 编队布局偏角(deg)")] public float TestCarSyncTh = 0f;
     // 手动遥控 Vx 已是 m/s、Vth 已是转向角(deg)，此处系数保持 1（直通），不要再次缩放。
     [FieldMember(desc = "[sync] 手动Vx系数")] public float ManualCarSyncVxFac = 1f;
+    [FieldMember(desc = "[sync] 手动Vy系数(蟹行横向)")] public float ManualCarSyncVyFac = 1f;
     [FieldMember(desc = "[sync] 手动Vth系数")] public float ManualCarSyncVthFac = 1f;
     [FieldMember(desc = "[sync] 检测中心偏移(mm)")] public float DeltaDetectCenter = 350f;
     [FieldMember(desc = "[sync] 是否启用Detour定位")] public bool PosAvailable = true;
@@ -47,6 +48,20 @@ public class PilotConfig : MultiWheelPilotConfig
     [FieldMember(desc = "多车联动：互识别 Y补偿阈值(mm)")] public float MultiVehicleDetectBiasYThreshold = 50f;
     [FieldMember(desc = "多车联动：互识别 Th补偿阈值(deg)")] public float MultiVehicleDetectBiasThThreshold = 5f;
 
+    // 原地旋转(mode2)闭环纠偏(PI)：把"本车应移动到的位置(dx,dy,mm)/应转角(dth,deg)"作为误差，
+    // 用 PI 控制器换算成车体系修正速度叠加到绕队心旋转上。纯 P 对抗恒定横向滑移扰动有稳态残差，
+    // 加积分项把稳态误差拉到 0；积分带限幅(抗 windup)，总输出限幅在 Max 内防过冲/振荡。
+    // Fac=比例增益(mm/s per mm、deg/s per deg)；IFac=积分增益(mm/s per mm·s、deg/s per deg·s)；Max=总输出上限。
+    [FieldMember(desc = "原地旋转纠偏：平移比例增益P(mm/s per mm)")] public float MultiVehicleRotateCompXyFac = 1.2f;
+    [FieldMember(desc = "原地旋转纠偏：平移积分增益I(mm/s per mm·s)")] public float MultiVehicleRotateCompXyIFac = 0.8f;
+    [FieldMember(desc = "原地旋转纠偏：平移速度上限(mm/s)")] public float MultiVehicleRotateCompXyMax = 150f;
+    [FieldMember(desc = "原地旋转纠偏：转向比例增益P(deg/s per deg)")] public float MultiVehicleRotateCompThFac = 0.8f;
+    [FieldMember(desc = "原地旋转纠偏：转向积分增益I(deg/s per deg·s)")] public float MultiVehicleRotateCompThIFac = 0.8f;
+    [FieldMember(desc = "原地旋转纠偏：转向速度上限(deg/s)")] public float MultiVehicleRotateCompThMax = 15f;
+    // 仅当车队实际被指令旋转(|fleetOmega|超过此阈值)时才运行纠偏 PI；否则清零并复位积分，
+    // 避免松开摇杆后积分残留持续驱动车辆"自行旋转停不下来"。
+    [FieldMember(desc = "原地旋转纠偏：生效的最小角速度阈值(deg/s)")] public float MultiVehicleRotateActiveOmega = 0.5f;
+
     [FieldMember(desc = "单车同步 xy 精度(mm)")] public float SingleCarSyncPrecisionXy = 10f;
     [FieldMember(desc = "单车同步 th 精度(deg)")] public float SingleCarSyncPrecisionTh = 0.2f;
 
@@ -56,6 +71,9 @@ public class PilotConfig : MultiWheelPilotConfig
     [FieldMember(desc = "Playground 小车名称（场景 robots[].name）")]
     public string PlaygroundRobotName = "agv_multi_1";
 
+    [FieldMember(desc = "Playground 邻车名称（仅主车用于原地旋转位姿诊断）")]
+    public string PlaygroundNeighborRobotName = "agv_multi_2";
+
     [FieldMember(desc = "WebAPI 平移测试：平移距离(mm)")]
     public float WebApiTranslateMm = 100f;