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
Merge branch 'os_dev' into navigation_dev
Broadcast the "target" waypoint number