- delay: 0
  description: 遥控器控制
  freq_control: false
  function: Task_rc
  name: rc
  stack: 256
- delay: 0
  description: 陀螺仪接收解算任务
  freq_control: false
  function: Task_atti_esti
  name: atti_esti
  stack: 256
- delay: 0
  description: 测试任务
  freq_control: true
  frequency: 1000
  function: Task_test
  name: test
  stack: 256
- delay: 0
  description: 模拟命令行
  freq_control: false
  function: Task_cli
  name: cli
  stack: 256
- delay: 0
  description: 系统状态监控
  freq_control: true
  frequency: 100
  function: Task_monitor
  name: monitor
  stack: 256
- delay: 0
  description: 解析各种控制命令，最后将最终命令输出
  freq_control: true
  frequency: 500
  function: Task_cmd
  name: cmd
  stack: 256
- delay: 200
  description: 四足控制
  freq_control: true
  frequency: 800
  function: Task_ctrl_leg
  name: ctrl_leg
  stack: 512
- delay: 200
  description: 底盘控制，接受反馈和命令，计算输出给到两测腿控制
  freq_control: true
  frequency: 500
  function: Task_ctrl_chassis
  name: ctrl_chassis
  stack: 512