diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx
index ffaf9a7..c08fbe8 100644
--- a/MDK-ARM/R2.uvoptx
+++ b/MDK-ARM/R2.uvoptx
@@ -135,7 +135,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"" -O206 -S8 -C0 -P00000000 -N00("") -D00(00000000) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -200,6 +200,16 @@
           <WinNumber>1</WinNumber>
           <ItemText>\\R2\../User/task/up_task.c\UP.MID360Context.IsLaunch</ItemText>
         </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ang_58,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>11</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ang_66,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -207,7 +217,7 @@
       <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 178b9e3..c50144b 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 e1e4a53..34b8bbe 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -75,11 +75,11 @@ static const ConfigParam_t param ={
 
     /*投球*/
     .LaunchCfg = {
-    .m2006_init = -130.0f,    // M2006初始角度
+    .m2006_init = -125.0f,    // M2006初始角度
     .m2006_trig = 0.0f,       // M2006触发角度
-    .go_pull_pos = -214.0f,   // go上升去合并扳机，扳机位置
+    .go_pull_pos = -210.0f,   // go上升去合并扳机，扳机位置
     .go_up_speed = 12.0f,     // 上升速度
-    .go_down_speed = 6.0f,     // 下降速度
+    .go_down_speed = 10.0f,     // 下降速度
 		.Pitch_angle = 58,	           //俯仰角
 		.go_init	 = -50
 },
@@ -89,14 +89,14 @@ static const ConfigParam_t param ={
 	  .go_release_pos=-200,
 		.Pitch_angle  =66,
     .go_up_speed  =12,
-		.go_down_speed =6,
+		.go_down_speed =10,
 }, 
 		.PassCfg={
 		.go_wait  =-10,   
 	  .go_release_pos	=-150,		
 	  .Pitch_angle=66, 
     .go_up_speed	=12,
-    .go_down_speed =6,			
+    .go_down_speed =10,			
 		},
     .MID360Cfg={
 			
diff --git a/User/Module/up.c b/User/Module/up.c
index bf8da88..cabda56 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -199,7 +199,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 		is_pitch=0;	
 		} //初始上电
 		//LaunchCfg->go_up_speed=15;
-		target->Pitch_angle =LaunchCfg->Pitch_angle; 
+//		target->Pitch_angle =LaunchCfg->Pitch_angle; 
 		target->go_pull_speed=LaunchCfg->go_up_speed;	
 		target->Shoot_M2006_angle=LaunchCfg->m2006_init;
 		u->PitchContext .PitchState   = PITCH_PREPARE;  //状态更新
@@ -260,7 +260,7 @@ int8_t Pitch_Launch_Sequence(UP_t *u, LaunchContext_t *LaunchContext,fp32 StartP
 	bool is_GoStartReach=is_reached(u->motorfeedback.go_data.Pos,StartPos,1.0f); //go开始位置
 	bool is_GoSpeedReach=is_reached(u->motorfeedback.go_data.W,0,1.0f) ;  //go速度归零判断
 	bool is_GoEndReach  =(u->motorfeedback .go_data .Pos < -209);         //go去上拉钩子位置，判断到达
-	bool is_HookDone=(u->motorfeedback .DJmotor_feedback [4].total_angle>-10); //2006钩子放下判断
+	bool is_HookDone=(u->motorfeedback .DJmotor_feedback [4].total_angle>-5.0f); //2006钩子放下判断
 	bool is_Shoot=(u->motorfeedback.DJmotor_feedback[4].total_angle<-10);//是否发射判断
 	
 	
@@ -400,13 +400,20 @@ int8_t UP_AUTO_Control(UP_t *u,CAN_Output_t *out,CMD_t *c){
 	    LaunchContext_t *LaunchContext = &u->LaunchContext;
 	    MID360Context_t *MID360Context=&u->MID360Context;
 	    MID360Cfg_t  *MID360Cfg = &u->MID360Context.MID360Cfg;
-	    MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis),3.2,4.3,&u->MID360Context.Curve);
+//	    MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis),3.2,4.3,&u->MID360Context.Curve);
+	
+			if(u->MID360Context.Curve==CURVE_58){
+					MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis),3.3,4.3,&u->MID360Context.Curve);
+			}
+			else {
+					MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis)-0.05f,3.3,4.3,&u->MID360Context.Curve);
+				
+			}
 			if (u->MID360Context.Curve == CURVE_58) {
         target->Pitch_angle = 58;
 				} else {
 				target->Pitch_angle = 66;
-				}
-			
+				}	
        LaunchContext->LaunchCfg.go_up_speed=MID360Cfg->go_up_speed;
        LaunchContext->LaunchCfg.go_down_speed=MID360Cfg->go_down_speed;
 				
diff --git a/User/Module/up_utils.c b/User/Module/up_utils.c
index ea889d5..e579749 100644
--- a/User/Module/up_utils.c
+++ b/User/Module/up_utils.c
@@ -68,12 +68,12 @@ int8_t GO_SendData( GO_MotorData_t *go_data,GO_MotorCmd_t *go_cmd,float pos, flo
 
 // 计算66度曲线（偏上）
 	static float curve_66(float d) {
-			return  3.7028f * d * d + 11.2126f * d -142.9446f;
-	}
+    return 2.9851104*pow(d,4) -36.164382*pow(d,3) + 159.54844*pow(d,2)  -273.62856*d + 43.092452;	}
 // 计算58度曲线（偏下）
 // 计算58度曲线（偏下）
 static float curve_58(float d) {
-    return 0.9242f * d * d + 19.4246f * d - 154.9055f;
+//    return 0.9242f * d * d + 19.4246f * d - 154.9055f;
+	    return 2.638517*pow(d,4)  -47.996138*pow(d,3) + 325.38515*pow(d,2)  -950.18155*d + 919.86543;
 }
 
 /*
@@ -81,12 +81,15 @@ static float curve_58(float d) {
    迟滞区x-y
    曲线x重合区，根据当前函数和变化方向切换
 */
+	fp32 ang_58;
+fp32 ang_66;
+
 float CurveChange(float d, float x, float y, CurveType *cs)
 {
+   
     if (*cs == CURVE_66) {
         if (d > y) {
-
-					*cs = CURVE_58;
+            *cs = CURVE_58;
         }
     } else { // CURVE_58
         if (d < x) {
@@ -96,8 +99,10 @@ float CurveChange(float d, float x, float y, CurveType *cs)
 
     // 根据当前曲线返回结果
     if (*cs == CURVE_58) {
+			ang_58=d;
         return curve_58(d);
     } else {
+			ang_66=d;
         return curve_66(d);
     }
 }
diff --git a/User/task/cmd_task.c b/User/task/cmd_task.c
index 8bf0203..5ad30e2 100644
--- a/User/task/cmd_task.c
+++ b/User/task/cmd_task.c
@@ -40,10 +40,15 @@ void Task_cmd(void *argument){
     /*将各任务接收到的原始数据解析为通用的控制命令*/
 		 
 		 
-		 /*注意，不能将nuc和码盘导航一块使用*/
+
 		 
-		if(osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc, &Nuc,0 ,0) ==osOK) //nuc
-      CMD_ParseNuc(&cmd,&Nuc);
+		if((osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc, &Nuc,0 ,0) ==osOK)){ //nuc	
+		}
+		else
+		{
+		   memset(&Nuc, 0, sizeof(CMD_NUC_t));
+		}
+	   CMD_ParseNuc(&cmd,&Nuc);
 		
 		
 		if(osMessageQueueGet(task_runtime.msgq.cmd.raw.rc, &rc_ctrl, 0, 0) == osOK)//遥控器
diff --git a/User/task/user_task.h b/User/task/user_task.h
index 5587be0..52e20d5 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -17,7 +17,7 @@
 #define TASK_FREQ_CHASSIS (900u)
 #define TASK_FREQ_UP (900u)
 
-#define TASK_FREQ_CTRL_CMD (500u)
+#define TASK_FREQ_CTRL_CMD (100u)
 #define TASK_FREQ_NUC (100u)
 #define TASK_FREQ_CAN (1000u)
 #define TASK_FREQ_RC (100u)