优化底盘加速度计算逻辑，增加对轨道角度的处理，确保在不同坐标系下正确计算线性加速度。

			float ax_d = delta_speed_X / deltaTime; // desired linear acceleration x

			float ay_d = delta_speed_Y / deltaTime; // desired linear acceleration y

			float ax_total, ay_total;

			if (data->track_angle) {

				// When track_angle is true, speeds and accelerations are in the

				// ground frame.

				ax_total = ax_d;

				ay_total = ay_d;

			} else {

				// When track_angle is false, speeds are in the chassis frame.

				// To get the total acceleration in the ground frame (expressed in

				// chassis coords), we must add the centripetal acceleration.

				float vx = data->set_status.speedX;

				float vy = data->set_status.speedY;

				float omega = data->target_status.gyro;

				// Centripetal acceleration component: a_c = omega x v

			// In 2D, with v=(vx, vy) and omega being a scalar rotating around z-axis,

			// the vector is (-omega*vy, omega*vx)

				float ax_c = -omega * vy;

				float ay_c = omega * vx;

				// Total ground acceleration (in chassis frame)

			float ax_total = ax_d + ax_c;

			float ay_total = ay_d + ay_c;

				ax_total = ax_d + ax_c;

				ay_total = ay_d + ay_c;

			}

			float a_total_mag;

			arm_sqrt_f32(ax_total * ax_total + ay_total * ay_total, &a_total_mag);

			if (a_total_mag > cfg->max_lin_accel) {

				// Limit the total acceleration

				// We can only affect the linear acceleration part (ax_d, ay_d)

				// The desired linear acceleration needs to be adjusted

				// Vector from centripetal accel to max_lin_accel circle center

				// (-ax_c, -ay_c) to desired total accel (ax_d, ay_d) is (ax_d -

				// (-ax_c)), (ay_d -

				// (-ay_c)) = (ax_total, ay_total). We need to scale this vector to

				// be on the circle of radius max_lin_accel

				float scale = cfg->max_lin_accel / a_total_mag;

				if (data->track_angle) {

					ax_d *= scale;

					ay_d *= scale;

				} else {

					// The new limited total acceleration

					ax_total *= scale;

					ay_total *= scale;

				// The new limited desired linear acceleration

					// We can only control the linear acceleration part (ax_d,

					// ay_d), so we subtract the centripetal part to find the

					// new ax_d and ay_d.

					float vx = data->set_status.speedX;

					float vy = data->set_status.speedY;

					float omega = data->target_status.gyro;

					float ax_c = -omega * vy;

					float ay_c = omega * vx;

					ax_d = ax_total - ax_c;

					ay_d = ay_total - ay_c;

				}

				// Update delta_speed

				delta_speed_X = ax_d * deltaTime;