diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 19d8611..488f11b 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -467,3 +467,7 @@
 
 [info] Log at : 2025/6/18|17:47:04|GMT+0800
 
+[info] Log at : 2025/6/18|19:43:09|GMT+0800
+
+[info] Log at : 2025/6/22|14:26:08|GMT+0800
+
diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx
index 8aacd56..42438c7 100644
--- a/MDK-ARM/R2.uvoptx
+++ b/MDK-ARM/R2.uvoptx
@@ -208,53 +208,23 @@
         <Ww>
           <count>10</count>
           <WinNumber>1</WinNumber>
-          <ItemText>valid_check,0x0A</ItemText>
+          <ItemText>nuc_raw,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>11</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nuc_raw,0x0A</ItemText>
+          <ItemText>cmd_fromnuc,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>12</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cmd_fromnuc,0x0A</ItemText>
+          <ItemText>nucbuf,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>13</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nucbuf,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>14</count>
-          <WinNumber>1</WinNumber>
           <ItemText>LD_raw,0x0A</ItemText>
         </Ww>
-        <Ww>
-          <count>15</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>aeeaa,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>16</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>aaaaaaaaaaaa,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>17</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>valid_check,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>18</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>aaaaaaaaaaaaaaaaaaaaaaaaaa,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>19</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>aaaaaaaaaaaaaaaaaaa,0x0A</ItemText>
-        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -262,7 +232,7 @@
       <DebugFlag>
         <trace>0</trace>
         <periodic>1</periodic>
-        <aLwin>0</aLwin>
+        <aLwin>1</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
         <aSer2>0</aSer2>
diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf
index 7fb4434..9765c5f 100644
Binary files a/MDK-ARM/R2/R2.axf and b/MDK-ARM/R2/R2.axf differ
diff --git a/User/Module/config.c b/User/Module/config.c
index 54bbfa0..ef628ab 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -113,7 +113,7 @@ static const ConfigParam_t param ={
     .m2006_init =-150,    //释放的角度
 	  .m2006_trig =0,       //可以拉住发射的角度
 		.go_init = -50,       //仅用在go上电，初始位置
-	  .go_pull_pos =-210,
+	  .go_pull_pos =-214,
 		.Pitch_angle  =58,
 			
 		.pull_speed  =5,
diff --git a/User/Module/up.c b/User/Module/up.c
index 95d17c1..f9d6b73 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -258,7 +258,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 	static int is_pitch=1;
 	
 	/*config值限位*/
-		abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.go_release_pos ,-208.0f,2.0f);
+		abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.go_release_pos ,-215.0f,0.0f);
 
 
     switch (c->CMD_CtrlType  )