路径点不重复的控制算法测试通了，但是好像不如之前路径点重复的版本好。增加了蓝牙接口部分。准备移植外包的MQTT。

yincheng.zhong

10 天以前 4adc78553c8d48ff122506195fa33641134bd7b1

 STM32H743/MDK-ARM/STM32H743.uvoptx

@@ -260,7 +260,44 @@
          <WinNumber>1</WinNumber>
          <ItemText>g_com_map,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>20</count>
          <WinNumber>1</WinNumber>
          <ItemText>l_stGPGIG.m_dLatitude</ItemText>
        </Ww>
        <Ww>
          <count>21</count>
          <WinNumber>1</WinNumber>
          <ItemText>l_stGPRMI.m_dLatitude</ItemText>
        </Ww>
        <Ww>
          <count>22</count>
          <WinNumber>1</WinNumber>
          <ItemText>sol_status</ItemText>
        </Ww>
        <Ww>
          <count>23</count>
          <WinNumber>1</WinNumber>
          <ItemText>l_stGPRMI.m_u32StatusFlags</ItemText>
        </Ww>
        <Ww>
          <count>24</count>
          <WinNumber>1</WinNumber>
          <ItemText>g_motion_state</ItemText>
        </Ww>
        <Ww>
          <count>25</count>
          <WinNumber>1</WinNumber>
          <ItemText>state</ItemText>
        </Ww>
      </WatchWindow1>
      <WatchWindow2>
        <Ww>
          <count>0</count>
          <WinNumber>2</WinNumber>
          <ItemText>stInit</ItemText>
        </Ww>
      </WatchWindow2>
      <MemoryWindow1>
        <Mm>
          <WinNumber>1</WinNumber>
@@ -316,6 +353,10 @@
          <Name>System Viewer\TIM3</Name>
          <WinId>35905</WinId>
        </Entry>
        <Entry>
          <Name>System Viewer\USART6</Name>
          <WinId>35904</WinId>
        </Entry>
      </SystemViewers>
      <DebugDescription>
        <Enable>1</Enable>