diff --git a/User/module/command.c b/User/module/command.c
new file mode 100644
index 0000000..e69de29
diff --git a/User/module/command.h b/User/module/command.h
new file mode 100644
index 0000000..e69de29
diff --git a/User/module/config.c b/User/module/config.c
index ca68362..f4906e6 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -168,8 +168,8 @@ Config_RobotParam_t robot_config = {
 
     .chassis_param = {
         .yaw={
-            .k=0.8f,
-            .p=1.2f,
+            .k=1.0f,
+            .p=1.0f,
             .i=0.01f,
             .d=0.05f,
             .i_limit=0.0f,
@@ -211,12 +211,12 @@ Config_RobotParam_t robot_config = {
         },
 
         .tp={
-            .k=1.0f,
+            .k=2.0f,
             .p=2.0f,          /* 俯仰角比例系数 */
             .i=0.0f,           /* 俯仰角积分系数 */
             .d=0.0f,           /* 俯仰角微分系数 */
             .i_limit=0.0f,     /* 积分限幅 */
-            .out_limit=2.0f,   /* 输出限幅，腿长差值限制 */
+            .out_limit=10.0f,   /* 输出限幅，腿长差值限制 */
             .d_cutoff_freq=30.0f, /* 微分截止频率 */
             .range=-1.0f,      /* 不使用循环误差处理 */
         },
diff --git a/User/module/shoot.c b/User/module/shoot.c
index ea1611e..0f38e8d 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -303,3 +303,4 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
 
 
 
+
diff --git a/User/task/command.c b/User/task/command.c
index c93b319..9d11fc7 100644
--- a/User/task/command.c
+++ b/User/task/command.c
@@ -36,7 +36,7 @@ void Task_command(void *argument) {
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-
+    
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index f5c0456..58afc94 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -55,10 +55,10 @@ void Task_ctrl_chassis(void *argument) {
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-    if (osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) != osOK) {
+    if (osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_cmd, NULL, 0) != osOK) {
         // 没有新命令，保持上次命令
     }
-    osMessageQueueGet(task_runtime.msgq.chassis_yaw, &chassis.feedback.yaw, NULL, 0);
+    osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis.feedback.yaw, NULL, 0);
  
     Chassis_UpdateFeedback(&chassis);
 
diff --git a/User/task/ctrl_gimbal.c b/User/task/ctrl_gimbal.c
index f795815..4bf4999 100644
--- a/User/task/ctrl_gimbal.c
+++ b/User/task/ctrl_gimbal.c
@@ -49,7 +49,7 @@ void Task_ctrl_gimbal(void *argument) {
     Gimbal_UpdateFeedback(&gimbal);
 
     // osMessageQueueReset(task_runtime.msgq.chassis_yaw);
-    osMessageQueuePut(task_runtime.msgq.chassis_yaw, &gimbal.feedback.motor.yaw, 0, 0);
+    osMessageQueuePut(task_runtime.msgq.chassis.yaw, &gimbal.feedback.motor.yaw, 0, 0);
     
     Gimbal_Control(&gimbal, &gimbal_cmd);
 
diff --git a/User/task/ctrl_shoot.c b/User/task/ctrl_shoot.c
index 98010f9..eed31a6 100644
--- a/User/task/ctrl_shoot.c
+++ b/User/task/ctrl_shoot.c
@@ -40,6 +40,7 @@ void Task_ctrl_shoot(void *argument) {
     /* USER CODE BEGIN */
     osMessageQueueGet(task_runtime.msgq.shoot.shoot_cmd, &shoot_cmd, NULL, 0);
     Shoot_UpdateFeedback(&shoot);
+    //  Shoot_Test(&shoot);
     Shoot_Control(&shoot,&shoot_cmd);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
diff --git a/User/task/init.c b/User/task/init.c
index ad183cf..aeaad5d 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -46,9 +46,9 @@ void Task_Init(void *argument) {
   // 创建消息队列
   /* USER MESSAGE BEGIN */
   task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
-  task_runtime.msgq.chassis_imu = osMessageQueueNew(2u, sizeof(Chassis_IMU_t), NULL);
-  task_runtime.msgq.Chassis_cmd = osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
-  task_runtime.msgq.chassis_yaw = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL);
+  task_runtime.msgq.chassis.imu = osMessageQueueNew(2u, sizeof(Chassis_IMU_t), NULL);
+  task_runtime.msgq.chassis.cmd = osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
+  task_runtime.msgq.chassis.yaw = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL);
   task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
   task_runtime.msgq.gimbal.cmd= osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
   task_runtime.msgq.shoot.shoot_cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL);
diff --git a/User/task/rc.c b/User/task/rc.c
index 8f23e7f..e362885 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -78,8 +78,8 @@ void Task_rc(void *argument) {
     cmd_for_chassis.height = dr16.data.ch_res;
 
     osMessageQueueReset(
-        task_runtime.msgq.Chassis_cmd); // 重置消息队列，防止阻塞
-    osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_for_chassis, 0,
+        task_runtime.msgq.chassis.cmd); // 重置消息队列，防止阻塞
+    osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0,
                       0); // 非阻塞发送底盘控制命令
 
     switch (dr16.data.sw_l) {
diff --git a/User/task/user_task.h b/User/task/user_task.h
index ae5a6c8..91f3040 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -58,9 +58,11 @@ typedef struct {
     struct {
         osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
 
-        osMessageQueueId_t chassis_imu;
-        osMessageQueueId_t Chassis_cmd;
-        osMessageQueueId_t chassis_yaw;
+        struct {
+            osMessageQueueId_t imu;
+            osMessageQueueId_t cmd;
+            osMessageQueueId_t yaw;
+        }chassis;
         struct {
             osMessageQueueId_t imu;
             osMessageQueueId_t cmd;