diff --git a/User/lib/kalman.c b/User/lib/kalman.c
index 52bca43..6710419 100644
--- a/User/lib/kalman.c
+++ b/User/lib/kalman.c
@@ -35,7 +35,7 @@ void KalmanCreate(extKalman_t *p,float T_Q,float T_R)
     p->Q = T_Q;
     p->R = T_R;
     p->A = 1;
-	p->B = 0;
+	  p->B = 0;
     p->H = 1;
     p->X_mid = p->X_last;
 }
diff --git a/User/lib/kalman.h b/User/lib/kalman.h
index 72ddb58..05195b6 100644
--- a/User/lib/kalman.h
+++ b/User/lib/kalman.h
@@ -16,7 +16,7 @@ typedef struct {
     float P_last; //ÉÏһʱ¿Ì×îÓŽá¹ûµÄЭ·½²î  P(k-1|k-1)
     float kg;     //kalmanÔöÒæ
     float A;      //ϵͳ²ÎÊý
-	float B;
+	  float B;
     float Q;
     float R;
     float H;
diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp
index 5ee0f86..27d51a4 100644
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@@ -21,6 +21,7 @@ void FunctionBall(void *argument)
     (void)argument; /* 未使用argument，消除警告 */
 
     const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL;
+    ball.Filter_init(TASK_FREQ_BALL);
     uint32_t tick = osKernelGetTickCount();
 		
     while(1)