仿真跑起来了，但是起点转向不太对。

yincheng.zhong

2025-11-24 346cc7d685283df529aadbcf9c156de040ce44f9

 STM32H743/APL/motion_control_task.c

@@ -205,13 +205,18 @@
        }

        const HIDO_CHAR *stage_label = MotionControl_StageLabel(output.stage);
        const HIDO_FLOAT *target_ptr = (output.target_valid == HIDO_TRUE) ? output.target_xy : HIDO_NULL;
        PythonLink_ReportControl(output.forward_mps,
                                 output.turn_rate,
                                 g_control_freq_hz,
                                 g_last_steering_pwm,
                                 g_last_throttle_pwm,
                                 stage_label,
                                 g_last_sensor_timestamp_ms);
                                 g_last_sensor_timestamp_ms,
                                 output.pos_enu,
                                 output.heading_deg,
                                 output.target_heading_deg,
                                 target_ptr);
        if ((now - g_last_state_report_ms) >= 1000U)
        {
            g_last_state_report_ms = now;