[13:58:36.316]收←◆[PythonLink] Init success (UART5, 921600 bps, DMA)
[MC_INIT] Path loaded: count=7, first_point=(1.77,0.16)
[MotionCtrl] Task started (75.0 Hz)
[BT] Poll: IntCnt=3, Flag=1, DMA_CNDTR=1024, RecvLen=0
[BT] Empty IDLE interrupt (Len=0), restarting DMA
[MC_CTRL] CH8 failsafe detected (1024), keeping previous value=1000
[MC_CTRL] SBUS valid changed: 0 -> 1
$STATE,idle,0.000,0.00,0*53

[13:58:37.317]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=1005, RecvLen=0
$STATE,idle,0.000,0.00,0*53

[13:58:37.352]收←◆[MC_CTRL] CH8 state confirmed: MANUAL -> AUTO (ch8=1800)

[13:58:38.319]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=986, RecvLen=0
$STATE,idle,0.000,0.00,0*53

[13:58:39.320]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=967, RecvLen=0
$STATE,idle,0.000,0.00,0*53

[13:58:40.320]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=948, RecvLen=0

[13:58:41.318]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=929, RecvLen=0

[13:58:42.315]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=910, RecvLen=0

[13:58:43.312]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=891, RecvLen=0

[13:58:44.309]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=872, RecvLen=0

[13:58:45.073]收←◆$STACK,Motion,1729,2624,2624*7D
$STACK,App,1737,2624,2624*0D

[13:58:45.306]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=853, RecvLen=0

[13:58:46.304]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=834, RecvLen=0

[13:58:47.301]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:47.330]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=815, RecvLen=0

[13:58:48.299]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:48.333]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=796, RecvLen=0

[13:58:49.296]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:49.333]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=777, RecvLen=0

[13:58:50.293]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:50.335]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=758, RecvLen=0

[13:58:51.291]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:51.336]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=739, RecvLen=0

[13:58:52.287]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:52.337]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=720, RecvLen=0

[13:58:53.285]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:53.338]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=701, RecvLen=0

[13:58:54.282]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:54.339]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=682, RecvLen=0

[13:58:55.045]收←◆$STACK,Motion,1729,2624,2624*7D
$STACK,App,1737,2624,2624*0D

[13:58:55.280]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:55.341]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=663, RecvLen=0

[13:58:56.277]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:56.342]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=644, RecvLen=0

[13:58:57.273]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:57.343]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=625, RecvLen=0

[13:58:58.271]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:58.345]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=606, RecvLen=0

[13:58:59.268]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:59.346]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=587, RecvLen=0

[13:59:00.265]收←◆$STATE,idle,0.000,0.00,0*53

[13:59:00.346]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=568, RecvLen=0

[13:59:01.263]收←◆$STATE,idle,0.000,0.00,0*53

[13:59:01.347]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=549, RecvLen=0

[13:59:02.259]收←◆$STATE,idle,0.000,0.00,0*53

[13:59:02.349]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=530, RecvLen=0