diff --git a/CMakeLists.txt b/CMakeLists.txt
index ac1c33a..23eaead 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,7 +35,7 @@ add_executable(calibrate_handeye calibration/calibrate_handeye.cpp)
 add_executable(calibrate_robotworld_handeye calibration/calibrate_robotworld_handeye.cpp)
 add_executable(split_video calibration/split_video.cpp)
 
-target_link_libraries(capture ${OpenCV_LIBS} fmt::fmt component device)
+target_link_libraries(capture ${OpenCV_LIBS} fmt::fmt yaml-cpp component device)
 target_link_libraries(calibrate_camera ${OpenCV_LIBS} fmt::fmt yaml-cpp component)
 target_link_libraries(calibrate_handeye ${OpenCV_LIBS} fmt::fmt yaml-cpp component)
 target_link_libraries(calibrate_robotworld_handeye ${OpenCV_LIBS} fmt::fmt yaml-cpp component)
@@ -117,4 +117,3 @@ target_link_libraries(balance_infantry ${OpenCV_LIBS} fmt::fmt yaml-cpp nlohmann
 add_executable(balance_infantry_mpc src/task/balance_infantry_mpc.cpp)
 target_link_libraries(balance_infantry_mpc ${OpenCV_LIBS} fmt::fmt yaml-cpp nlohmann_json::nlohmann_json auto_aim auto_buff component device)
 
-
diff --git a/configs/ascento.yaml b/configs/ascento.yaml
index 1af1349..07d6c29 100644
--- a/configs/ascento.yaml
+++ b/configs/ascento.yaml
@@ -76,7 +76,7 @@ can_interface: "can0"
 
 #####-----gimbal参数-----#####
 com_port: "/dev/gimbal"
-
+baudrate: 115200
 #####-----buff_detector参数-----#####
 model: "assets/yolo11_buff_int8.xml"
 
diff --git a/configs/calibration.yaml b/configs/calibration.yaml
index fa6f79d..7cb9f73 100644
--- a/configs/calibration.yaml
+++ b/configs/calibration.yaml
@@ -1,7 +1,7 @@
-pattern_cols: 10
-pattern_rows: 7
-center_distance_mm: 40
-pattern_type: circles_grid   # circles_grid | chessboard
+pattern_cols: 11
+pattern_rows: 8
+center_distance_mm: 30
+pattern_type: chessboard   # circles_grid | chessboard
 
 R_gimbal2imubody: [1, 0, 0, 0, 1, 0,  0, 0, 1]
 
@@ -15,3 +15,6 @@ quaternion_canid: 0x01
 bullet_speed_canid: 0x110
 send_canid: 0xff
 can_interface: "can0"
+#####-----gimbal参数-----#####
+com_port: "/dev/ttyUSB0"
+baudrate: 115200
diff --git a/configs/camera.yaml b/configs/camera.yaml
index e1c9cdd..cddfc59 100644
--- a/configs/camera.yaml
+++ b/configs/camera.yaml
@@ -1,9 +1,9 @@
-camera_name: "mindvision"
-exposure_ms: 2
-gamma: 0.5
-vid_pid: "f622:d13a"
+# camera_name: "mindvision"
+# exposure_ms: 2
+# gamma: 0.5
+# vid_pid: "f622:d13a"
 
-# camera_name: "hikrobot"
-# exposure_ms: 3
-# gain: 10.0
-# vid_pid: "2bdf:0001"
\ No newline at end of file
+camera_name: "hikrobot"
+exposure_ms: 3
+gain: 10.0
+vid_pid: "2bdf:0001"
\ No newline at end of file
diff --git a/configs/demo.yaml b/configs/demo.yaml
index ec93654..af8ce21 100644
--- a/configs/demo.yaml
+++ b/configs/demo.yaml
@@ -78,7 +78,7 @@ can_interface: "can0"
 
 #####-----gimbal参数-----#####
 com_port: "/dev/gimbal"
-
+baudrate: 115200
 #####-----planner-----#####
 fire_thresh: 0.003
 
diff --git a/configs/standard3.yaml b/configs/standard3.yaml
index 96e38a8..9b2afed 100644
--- a/configs/standard3.yaml
+++ b/configs/standard3.yaml
@@ -79,6 +79,7 @@ can_interface: "can0"
 
 #####-----gimbal参数-----#####
 com_port: "/dev/ttyUSB0"
+baudrate: 115200
 yaw_kp: 0
 yaw_kd: 0
 pitch_kp: 0
diff --git a/configs/standard4.yaml b/configs/standard4.yaml
index 88a6d50..bc6565a 100644
--- a/configs/standard4.yaml
+++ b/configs/standard4.yaml
@@ -79,7 +79,7 @@ can_interface: "can0"
 
 #####-----gimbal参数-----#####
 com_port: "/dev/gimbal"
-
+baudrate: 115200
 #####-----planner-----#####
 fire_thresh: 0.003
 
diff --git a/src/device/gimbal/gimbal.cpp b/src/device/gimbal/gimbal.cpp
index 930228a..7735b83 100644
--- a/src/device/gimbal/gimbal.cpp
+++ b/src/device/gimbal/gimbal.cpp
@@ -11,13 +11,14 @@ Gimbal::Gimbal(const std::string & config_path)
 {
   auto yaml = component::load(config_path);
   auto com_port = component::read<std::string>(yaml, "com_port");
+  auto baudrate = component::read<int>(yaml, "baudrate");
 
   try {
     serial_.setPort(com_port);
-    serial_.setBaudrate(115200);
+    serial_.setBaudrate(baudrate);
     serial_.setTimeout(serial::Timeout::max(), 100, 0, 100, 0);
     serial_.open();
-    component::logger()->info("[Gimbal] Serial port {} opened at 115200 baud", com_port);
+    component::logger()->info("[Gimbal] Serial port {} opened at {} baud", com_port, baudrate);
   } catch (const std::exception & e) {
     component::logger()->error("[Gimbal] Failed to open serial: {}", e.what());
     exit(1);