Merge pull request #123 from ming6842/adding_more_and_more_brain_to_it

Merge some brain in to master
update documents
Fix image url
Update README.md
Support openocd to flash program

Conflicts:
	program/Makefile
Merge branch 'master' into merge_to_os_dev

Conflicts:
	program/Makefile
Fix warning
Merge branch 'os_dev' of https://github.com/moon-bear/firmware into os_dev
Use attribute to block the free function
Merge pull request #150 from shengwen1997/os_dev

Fix warning
Use FreeRTOS ISR routine to handle GPS message
Disable navgiation bind to pid_nav temperioly
Merge branch 'os_dev' of https://github.com/moon-bear/firmware into os_dev
Merge branch 'os_dev' into os_shengwen_flight
For gps debug
Enable GPS controller gain(position controller)