Codex generated changes:

1.stool-mode
2.INS direction changes
not tested,not ok

application/cmd/robot_cmd.c

@@ -16,6 +16,8 @@
 #include "bsp_log.h"
 #include "string.h"
 
+#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
+
 static Publisher_t *chassis_cmd_pub;             // 底盘控制消息发布者
 static Subscriber_t *chassis_feed_sub;           // 底盘反馈信息订阅者
 static Chassis_Ctrl_Cmd_s chassis_cmd_send;      // 发送给底盘应用的信息,包括控制信息和UI绘制相关
@@ -415,3 +417,5 @@ void RobotCMDTask()
     PubPushMessage(shoot_cmd_pub, (void *)&shoot_cmd_send);
     PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send);
 }
+
+#endif