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/VehicleSyncModels.cs

@@ -32,6 +32,10 @@ public class VehicleSyncNotification
     [JsonProperty("FleetVx")] public float FleetVx { get; set; }
     [JsonProperty("FleetFrontTh")] public float FleetFrontTh { get; set; }
     [JsonProperty("FleetRearTh")] public float FleetRearTh { get; set; }
+    // 联动运动模式：0=常规(前进+转向) 1=蟹行(四轮同向平移) 2=原地旋转(绕车队中心)
+    [JsonProperty("Mode")] public int Mode { get; set; }
+    // 原地旋转角速度(deg/s，逆时针为正)，仅 Mode==2 有效
+    [JsonProperty("FleetOmega")] public float FleetOmega { get; set; }
     [JsonProperty("AutoEnabled")] public bool AutoEnabled { get; set; }
     [JsonProperty("ManualEnabled")] public bool ManualEnabled { get; set; }
     [JsonProperty("SyncTh")] public float SyncTh { get; set; }