diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf
index d886012..f1b3416 100644
Binary files a/MDK-ARM/R2/R2.axf and b/MDK-ARM/R2/R2.axf differ
diff --git a/User/Algorithm/user_math.c b/User/Algorithm/user_math.c
index b0eb3ad..b16a7d3 100644
--- a/User/Algorithm/user_math.c
+++ b/User/Algorithm/user_math.c
@@ -405,4 +405,19 @@ bool is_reached_multiple(float current1, float current2, float current3, float t
         count++; // 所有条件都满足，计数加 1
     } 
     return false; // 未满足条件达到阈值，返回 0
+}
+	/**
+ * @brief 底盘无头模式转换函数
+ * @param vx      输入 X 方向速度（全局坐标系），输出转换后的底盘 X 速度
+ * @param vy      输入 Y 方向速度（全局坐标系），输出转换后的底盘 Y 速度
+ * @param vw      旋转速度（直接控制，不受影响）
+ * @param yaw     当前陀螺仪 yaw 角度（弧度制）
+ */
+void ChassisHeadlessMode(double *vx, double *vy, double yaw) {
+    double vx_global = *vx;
+    double vy_global = *vy;
+
+    // 标准二维旋转变换（逆时针为正）
+    *vx =  vx_global * cosf(yaw) - vy_global * sinf(yaw);
+    *vy =  vx_global * sinf(yaw) + vy_global * cosf(yaw);
 }
\ No newline at end of file
diff --git a/User/Algorithm/user_math.h b/User/Algorithm/user_math.h
index 0dad6dd..7464dd8 100644
--- a/User/Algorithm/user_math.h
+++ b/User/Algorithm/user_math.h
@@ -165,5 +165,6 @@ void normalize_vector(double x, double y, double *out_x, double *out_y) ;
 bool is_reached(float current, float target, float mistake) ;
 bool is_reached_multiple(float current1, float current2, float current3, float target1, float target2, float target3, float mistake, int threshold) ;
 fp32 abs_limit_min_max_fp(fp32 *num, fp32 Limit_min,fp32 Limit_max);
+void ChassisHeadlessMode(double *vx, double *vy, double yaw) ;
 
 #endif
diff --git a/User/Module/Chassis.c b/User/Module/Chassis.c
index 40c1642..ef04f52 100644
--- a/User/Module/Chassis.c
+++ b/User/Module/Chassis.c
@@ -81,10 +81,22 @@ int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_fre
     return CHASSIS_OK;
 }
 
+//void Chassis_speed_calculate(Chassis_t *c, fp32 Vx, fp32 Vy, fp32 Vw) {
+//    fp64 Nor_Vx, Nor_Vy;
+//    normalize_vector(Vx, Vy, &Nor_Vx, &Nor_Vy);
+//    
+//    c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx + Nor_Vy + Vw+c->ang_cail.out; // 右前
+//    c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx - Nor_Vy + Vw+c->ang_cail.out; // 右后
+//    c->hopemotorout.OmniSpeedOut[2] = Nor_Vx - Nor_Vy + Vw +c->ang_cail.out;  // 左后
+//    c->hopemotorout.OmniSpeedOut[3] = Nor_Vx + Nor_Vy + Vw +c->ang_cail.out;  // 左前
+//	
+//		Chassis_AngleCompensate(c);
+
+//}
 void Chassis_speed_calculate(Chassis_t *c, fp32 Vx, fp32 Vy, fp32 Vw) {
     fp64 Nor_Vx, Nor_Vy;
     normalize_vector(Vx, Vy, &Nor_Vx, &Nor_Vy);
-    
+    ChassisHeadlessMode(&Nor_Vx,&Nor_Vy,c->pos088.imu_eulr.yaw);
     c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx + Nor_Vy + Vw+c->ang_cail.out; // 右前
     c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx - Nor_Vy + Vw+c->ang_cail.out; // 右后
     c->hopemotorout.OmniSpeedOut[2] = Nor_Vx - Nor_Vy + Vw +c->ang_cail.out;  // 左后
@@ -150,13 +162,17 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
         case AUTO:
             switch (c->chassis_ctrl.mode) {
                 case AUTO_MID360:
-									
-								     c->move_vec.Vw = -ctrl->cmd_MID360.angle  * 3000;
-                     abs_limit_fp(&c->move_vec.Vw, 5000.0f);
+                    c->move_vec.Vw = ctrl->Vw * 8000;
+                    c->move_vec.Vx = ctrl->Vy * 8000;
+                    c->move_vec.Vy = ctrl->Vx * 8000;									
+//								     c->move_vec.Vw = -ctrl->cmd_MID360.angle  * 3000;
+//                     abs_limit_fp(&c->move_vec.Vw, 5000.0f);
 								   
                     break;
                 case AUTO_MID360_Pitch:
-                    c->move_vec.Vw = -ctrl->cmd_MID360.angle  * 3000;								
+                    c->move_vec.Vw = -ctrl->cmd_MID360.angle  * 3000;	
+                    c->move_vec.Vx = ctrl->Vy * 8000;
+                    c->move_vec.Vy = ctrl->Vx * 8000;									
                     abs_limit_fp(&c->move_vec.Vw, 5000.0f); 
                     break;
                 case REPOSITION:
diff --git a/User/Module/config.c b/User/Module/config.c
index bef7c04..b87c488 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -80,7 +80,7 @@ static const ConfigParam_t param ={
     .go_pull_pos = -210.0f,   // go上升去合并扳机，扳机位置
     .go_up_speed = 15.0f,     // 上升速度
     .go_down_speed = 12.0f,     // 下降速度
-		.Pitch_angle = 58,	           //俯仰角
+		.Pitch_angle = 66,	           //俯仰角
 		.go_init	 = -50
 },
     .PitchCfg = {
@@ -88,20 +88,20 @@ static const ConfigParam_t param ={
 		.go_init = -50,       //仅用在go上电，初始位置
 	  .go_release_pos=-200,
 		.Pitch_angle  =66,
-    .go_up_speed  =12,
+    .go_up_speed  =15,
 		.go_down_speed =10,
 }, 
 		.PassCfg={
 		.go_wait  =-10,   
 	  .go_release_pos	=-150,		
 	  .Pitch_angle=66, 
-    .go_up_speed	=12,
+    .go_up_speed	=15,
     .go_down_speed =10,			
 		},
     .MID360Cfg={
 			
 		.go_release_pos=-200, // GO电机发射位置
-		.go_up_speed=20, // GO电机上升速度
+		.go_up_speed=15, // GO电机上升速度
 		.go_down_speed=10, // GO电机下降速度
 
    
diff --git a/User/Module/up.c b/User/Module/up.c
index e2561c7..7dccb07 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -223,7 +223,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 
 				 break ;
 		case UP_Adjust: //测试用,手动使用pitch下的cfg
-			  LaunchCfg->go_up_speed=5;
+			  
 			  pitch_cfg ->go_release_pos += c->Vx ;
 	      LaunchCfg->Pitch_angle += c->Vy/100;
 	
@@ -242,7 +242,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 				break;
 			case RELAXED:
 //			target->go_shoot=	pitch_cfg .
-			target->Pitch_angle = 58;
+			target->Pitch_angle = 66;
 			target->go_shoot = -190.0f;
 			//失控下，最好切手动，手动用pitch
 			pitch_cfg ->go_release_pos=-190;
@@ -420,15 +420,19 @@ int8_t UP_AUTO_Control(UP_t *u,CAN_Output_t *out,CMD_t *c){
 	    MID360Context_t *MID360Context=&u->MID360Context;
 	    MID360Cfg_t  *MID360Cfg = &u->MID360Context.MID360Cfg;
 	
+	     u->PitchContext.PitchConfig.go_release_pos =MID360Cfg->go_release_pos;
       /*俯仰角度，力度转换，加数值限位*/
-	
+	   if(c->cmd_MID360.dis<1.3f){
+			 MID360Cfg->go_release_pos=-150.0f;
+		 }else {
 			if(u->MID360Context.Curve==CURVE_58){
-					MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis)+0.25f,3.3,4.3,&u->MID360Context.Curve);
+					MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis)+0.20f,3.3,4.3,&u->MID360Context.Curve);
 			}
 			else {
 					MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis)+0.1f,3.3,4.3,&u->MID360Context.Curve);
 				
 			}
+		}
 			if (u->MID360Context.Curve == CURVE_58) {
         target->Pitch_angle = 58;
 				} else {
diff --git a/User/device/cmd.c b/User/device/cmd.c
index 28ba857..cae197e 100644
--- a/User/device/cmd.c
+++ b/User/device/cmd.c
@@ -137,7 +137,7 @@ int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) {
 		
 		if(rc->dr16.sw_r ==CMD_SW_MID)  cmd ->CMD_mode =Normal; //左上，右中，无模式
 		
-	  if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Chassis_Adjust_Sick; //左上，右上，手动调整
+	  if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左上，右上，
 		
 		if(rc->dr16.res > 3000) cmd ->CMD_mode =UP_Adjust;
 	}
@@ -150,15 +150,15 @@ int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) {
 		
 		if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =AUTO_MID360; //左中，右中，无模式	
 		
-	  if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =REPOSITION; //左中，右下，视觉
+	  if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左中，右下，视觉
 		
 	}
 	else if(rc->dr16.sw_l==CMD_SW_DOWN)
 	{
-		cmd ->CMD_CtrlType =PASS_BALL;
-		if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =PB_UP; //左下，右上，无模式
-		if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode = PB_MID; //左下，右中，无模式
-	  if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =PB_DOWN; //左下，右上，无模式
+		cmd ->CMD_CtrlType =RCcontrol;
+		if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =Normal; //左下，右上，无模式
+		if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode = Normal; //左下，右中，无模式
+	  if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左下，右上，无模式
 	}