九游J9：高可靠自主飞行控制核心底座

/* 工业九游J9核心姿态抗扰闭环计算 */
void ADRC_Attitude_Update(SensorData_t *imu, Actuator_t *output) {
    // 1. 扩张状态观测器 ESO 实时估算未建模总扰动 (阵风/气动畸变)
    float z1_err = imu->gyro_pitch - eso_state.z1;
    eso_state.z1 += dt * (eso_state.z2 + beta_01 * z1_err);
    eso_state.z2 += dt * (eso_state.z3 + beta_02 * z1_err + b0 * last_u);
    eso_state.z3 += dt * (beta_03 * z1_err); // 扰动前馈观测量

    // 2. 非线性状态误差反馈与扰动实时补偿剔除
    float u0 = fal_control(target_pitch - eso_state.z1, alpha, delta);
    float real_ctrl = (u0 - eso_state.z3) / b0;

    // 3. 动力失效智能重构 (断桨自旋保护使能)
    if (unlikely(rotor_health_flags != ROTOR_ALL_OK)) {
        Actuator_Degraded_Spin_Reconfiguration(real_ctrl, output);
    } else {
        PWM_Output_Direct_Mix(real_ctrl, output);
    }
}