[wshy531]

中文

为使用角速度转向控制的前进型车辆增加接收机端漂移辅助。当实测偏航角速度超过目标参考值时，平滑减少油门，帮助抑制超转。

• 默认关闭，通过独立遥控通道启用，默认 CH8 高位；仅在 RATE 模式及兼容车辆混控下生效。
• 使用 CH3 原始油门、CH4 目标角速度和陀螺仪反馈计算减油，不主动补油，也不会逐帧累积衰减。
• 支持介入偏差、渐进区间、最大减油比例和介入／恢复时间常数。使用最近 250ms 的最大目标角速度作为参考，减少快速换向时的误介入。
• 零油门立即停车；取消解锁、遥控失联和模式切换时清除辅助状态。
• 持久化辅助参数，并通过 /config 和 /status.json 提供配置及运行状态。旧配置默认关闭辅助。
• 校验参数、车辆混控及开关通道冲突。已解锁时允许在 CH3 零油门下修改辅助参数，无需关闭解锁或 Wi-Fi 共存开关。

English

Add receiver-side drift assistance for forward-only vehicles using yaw-rate steering control. When measured yaw rate exceeds the target reference, assistance smoothly reduces throttle to help limit over-rotation.

• Disabled by default, with independent RC-channel activation using CH8 high by default. Runs only in RATE mode with a compatible car mixer.
• Uses original CH3 throttle, CH4 target yaw rate, and gyro feedback. Never adds throttle above the manual request or compounds reduction across frames.
• Provides configurable threshold, reduction span, maximum reduction, and attack/recovery time constants. A 250ms maximum-target window limits intervention during rapid steering reversals.
• Zero throttle stops immediately. Disarming, RC loss, and mode changes clear assistance state.
• Persists settings and exposes configuration/status through /config and /status.json. Older configurations default to assistance disabled.
• Validates parameters, mixer compatibility, and switch-channel conflicts. Allows parameter changes while armed at zero CH3 throttle, keeping arming and Wi-Fi coexistence enabled.