改为车头向前整链：主从装反机械初值、双天线 pitch/roll 姿态与默认 HeadingOffsetDeg=-90

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

run/run_direct_rtk_lidar.ps1

@@ -14,8 +14,9 @@ param(
     [int]$SmallGicpMaxGap = 26,
     [int]$Open3DMaxGap = 26,
     [double]$MaxReferenceTranslationM = 8.0,
-    # Baseline frame: rawHeading as RTK X. Use 90 only when deliberately targeting vehicle-forward.
-    [double]$HeadingOffsetDeg = 0.0,
+    # Baseline frame: rawHeading as RTK X. Default vehicle-forward for this car: -90
+    # (master/slave swapped, baseline points vehicle-right).
+    [double]$HeadingOffsetDeg = -90.0,
     [string]$SolverInitialExtrinsic = "",
     [double]$RefineMinInlierRatio = 0.63,
     [double]$RefineMaxInlierRmseM = 0.14