- delay: 0
  description: ''
  freq_control: true
  frequency: 500.0
  function: Task_ai
  name: ai
  stack: 256
- delay: 0
  description: ''
  freq_control: true
  frequency: 500.0
  function: Task_blink
  name: blink
  stack: 256
- delay: 0
  description: ''
  freq_control: true
  frequency: 500.0
  function: Task_ctrl_gimbal
  name: ctrl_gimbal
  stack: 256
- delay: 0
  description: ''
  freq_control: true
  frequency: 500.0
  function: Task_monitor
  name: monitor
  stack: 256
- delay: 0
  description: ''
  freq_control: true
  frequency: 500.0
  function: Task_rc
  name: rc
  stack: 256
- delay: 0
  description: ''
  freq_control: true
  frequency: 500.0
  function: Task_ctrl_shoot
  name: ctrl_shoot
  stack: 256
- delay: 500
  description: 带有pwm温控的纯陀螺仪（BMI088）姿态解算任务（无磁力计，赛场环境一般不适用）。控制IMU加热到指定温度防止温漂，收集IMU数据给AHRS算法。收集BMI088的数据，解算后得到四元数，转换为欧拉角之后放到消息队列中，等待其他任务取用。陀螺仪使用前需要校准，校准结果保存在bmi088_cali结构体中，需要自行实现。
  freq_control: false
  function: Task_atti_esti
  name: atti_esti
  preset_task: atti_esti
  stack: 512