change music for hero and adjust 0-position also disable referee check [hardware not connected]

Author: tz61

dev/application/vehicles/hero/can_motor_config.cpp

@@ -9,7 +9,7 @@ CANMotorBase CANMotorCFG::CANMotorProfile[MOTOR_COUNT] = {
         {CANMotorBase::can_channel_2, 0x201, CANMotorBase::M3508, 3572},//Front Right
         {CANMotorBase::can_channel_2, 0x204, CANMotorBase::M3508, 3572},//Back Right
         {CANMotorBase::can_channel_2, 0x203, CANMotorBase::M3508, 3572},//Back Left
-        {CANMotorBase::can_channel_2, 0x208, CANMotorBase::GM6020, 5598},//Yaw
+        {CANMotorBase::can_channel_2, 0x208, CANMotorBase::GM6020, 3634},//Yaw
         {CANMotorBase::can_channel_1, 0x205, CANMotorBase::GM6020, 3221},//PITCH 侧面的6020
         {CANMotorBase::can_channel_1, 0x201, CANMotorBase::M3508_without_deceleration, 3344},
         {CANMotorBase::can_channel_2, 0x206, CANMotorBase::M3508, 3572}, //Bullet Loader

dev/application/vehicles/hero/main_hero.cpp

@@ -223,7 +223,7 @@ int main() {
 
     /// Complete Period 2
 
-    BuzzerSKD::play_sound(BuzzerSKD::sound_startup_intel);  // Now play the startup sound
+    BuzzerSKD::play_sound(BuzzerSKD::cambodia);  // Now play the startup sound
 
 
     /*** ------------------------ Period 3. End of main thread ----------------------- ***/

dev/application/vehicles/hero/user_hero.cpp

@@ -55,7 +55,7 @@ void UserH::UserThread::main() {
 
 //        LOG("YAW,TG:%.2f,Actual:%.2f; PITCH,TG:%.2f,Actual:%.2f",GimbalSKD::get_target_angle(GimbalSKD::YAW),GimbalSKD::get_feedback_angle(GimbalSKD::YAW),GimbalSKD::get_target_angle(GimbalSKD::PITCH),GimbalSKD::get_feedback_angle(GimbalSKD::PITCH));
 
-        if (!InspectorH::remote_failure() /*&& !InspectorI::chassis_failure()*/ && !InspectorH::gimbal_failure() && Referee::robot_state.power_management_gimbal_output) {
+        if (!InspectorH::remote_failure() /*&& !InspectorI::chassis_failure()*/ && !InspectorH::gimbal_failure() /*&& Referee::robot_state.power_management_gimbal_output*/) {
             if ((Remote::rc.s1 == Remote::S_MIDDLE && Remote::rc.s2 == Remote::S_UP)) {
                 /// Remote - Yaw + Pitch
                 GimbalLG::set_mode(GimbalLG::CHASSIS_REF_MODE);