GUI和LOG初步调通，进行下一阶段，验证仿真的数据准确性，GPS的

yincheng.zhong

2025-11-23 212ccb49d3e7c7fa138c5f9d335d0b8c5a08d2a3

 STM32H743/MDK-ARM/STM32H743.uvprojx

@@ -337,9 +337,9 @@
            <v6Rtti>0</v6Rtti>
            <VariousControls>
              <MiscControls></MiscControls>
              <Define>USE_PWR_LDO_SUPPLY,USE_HAL_DRIVER,STM32H743xx,_USE_OS_,_RTK_MODE_,__EC600S__,__APP_CODE__,__USE_UWB__,__USE_NTRIP__</Define>
              <Define>USE_PWR_LDO_SUPPLY,USE_HAL_DRIVER,STM32H743xx,_USE_OS_,__TARGET_FPU_VFP</Define>
              <Undefine></Undefine>
              <IncludePath>../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;../HIDOLibrary/Include;../HAL;../FML;../APL;../FML/Internet;../FML/Internet/Module;../FML/Internet/Module/EG800</IncludePath>
              <IncludePath>../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;../HIDOLibrary/Include;../HAL;../FML;../APL;../FML/Internet;../FML/Internet/Module;../FML/Internet/Module/EG800;../Middlewares/ST/ARM/DSP/Inc</IncludePath>
            </VariousControls>
          </Cads>
          <Aads>
@@ -357,7 +357,7 @@
              <MiscControls></MiscControls>
              <Define></Define>
              <Undefine></Undefine>
              <IncludePath>../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include</IncludePath>
              <IncludePath>../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;../Middlewares/ST/ARM/DSP/Inc</IncludePath>
            </VariousControls>
          </Aads>
          <LDads>
@@ -528,6 +528,11 @@
              <FileType>1</FileType>
              <FilePath>..\FML\SBUS.c</FilePath>
            </File>
            <File>
              <FileName>PythonLink.c</FileName>
              <FileType>1</FileType>
              <FilePath>..\FML\PythonLink.c</FilePath>
            </File>
          </Files>
        </Group>
        <Group>
@@ -726,6 +731,36 @@
          </Files>
        </Group>
        <Group>
          <GroupName>Application/ALG</GroupName>
          <Files>
            <File>
              <FileName>motion_control.c</FileName>
              <FileType>1</FileType>
              <FilePath>..\FML\motion_control.c</FilePath>
            </File>
            <File>
              <FileName>motion_path_data.c</FileName>
              <FileType>1</FileType>
              <FilePath>..\FML\motion_path_data.c</FilePath>
            </File>
            <File>
              <FileName>geo_utils.c</FileName>
              <FileType>1</FileType>
              <FilePath>..\FML\geo_utils.c</FilePath>
            </File>
            <File>
              <FileName>motion_control_task.c</FileName>
              <FileType>1</FileType>
              <FilePath>..\APL\motion_control_task.c</FilePath>
            </File>
            <File>
              <FileName>arm_math_compat.c</FileName>
              <FileType>1</FileType>
              <FilePath>..\FML\arm_math_compat.c</FilePath>
            </File>
          </Files>
        </Group>
        <Group>
          <GroupName>::CMSIS</GroupName>
        </Group>
      </Groups>
@@ -735,8 +770,8 @@
  <RTE>
    <apis/>
    <components>
      <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.2.0" condition="ARMv6_7_8-M Device">
        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.5.1"/>
      <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.5.0" condition="ARMv6_7_8-M Device">
        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.8.0"/>
        <targetInfos>
          <targetInfo name="STM32H743"/>
        </targetInfos>