diff --git a/.gitignore b/.gitignore
index a7a9995..7f37bac 100644
--- a/.gitignore
+++ b/.gitignore
@@ -21,7 +21,7 @@
 RTE/
 Templates/
 Examples/
- 
+底盘/
 !*.uvprojx
 !*.h
 !*.c
diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index 928c9cf..290ccda 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -72,7 +72,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)0x10000)
+#define configTOTAL_HEAP_SIZE                    ((size_t)0x20000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configGENERATE_RUN_TIME_STATS            1
 #define configUSE_TRACE_FACILITY                 1
diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvoptx b/MDK-ARM/CtrBoard-H7_ALL.uvoptx
index 0e8157c..86282c7 100644
--- a/MDK-ARM/CtrBoard-H7_ALL.uvoptx
+++ b/MDK-ARM/CtrBoard-H7_ALL.uvoptx
@@ -158,37 +158,12 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>L_length</ItemText>
+          <ItemText>chassis</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>R_length</ItemText>
-        </Ww>
-        <Ww>
-          <count>2</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>L_fn</ItemText>
-        </Ww>
-        <Ww>
-          <count>3</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>R_fn</ItemText>
-        </Ww>
-        <Ww>
-          <count>4</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>LF</ItemText>
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>RF</ItemText>
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>chassis</ItemText>
+          <ItemText>dr16</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>
diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf
index 4b47daa..4f7746c 100644
Binary files a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf and b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf differ
diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
index 1a6a80f..d90befc 100644
--- a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
+++ b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
@@ -1,5 +1,5 @@
 :020000040800F2
-:10000000E896012405040008E9430108690701088E
+:10000000E896022405040008E9430108690701088D
 :10001000E143010849410008898701080000000008
 :10002000000000000000000000000000714A01080C
 :10003000595F000800000000314601089153010893
@@ -66,8 +66,8 @@
 :1004000009FB00000A4880470A4880470A4800471D
 :10041000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE7B4
 :10042000FEE7FEE705480649064A074B704700000D
-:10043000895F000899540108CD020008E86601248C
-:10044000E8960124E8760124E876012470B5064692
+:10043000895F000899540108CD020008E86602248B
+:10044000E8960224E8760224E876022470B506468F
 :1004500000F02CFE056806F10B0020F00704B44202
 :100460009CBF002070BD2B466A68BAB11068A042DC
 :1004700010D304F1080188423CBF5068586007D38C
@@ -2684,8 +2684,8 @@
 :10A7A000EA6737E705B0BDE8F08F00000000000061
 :10A7B0000069084018BF0120704700000000000039
 :10A7C000002A08BF090481617047000000000000F2
-:10A7D00045F6E070C2F201400068704700000000DA
-:10A7E00040F2040045F6E071C2F20040C2F20141BD
+:10A7D00045F6E070C2F202400068704700000000D9
+:10A7E00040F2040045F6E071C2F20040C2F20241BC
 :10A7F00000780A68104408607047000000000000FC
 :10A8000080B5032000F0ECF802F0A6FA44F21841FB
 :10A810004FF2D833C5F60201C0F601030A68096891
@@ -6954,7 +6954,7 @@
 :10B270000041486840B1087801282AD000204FF0EA
 :10B28000000564BB9DE000BF45F6E070C2F20040DF
 :10B29000C21D10F0070322F00702A0EB020718BF3F
-:10B2A00010464FF48032002B18BF07F58032002380
+:10B2A00010464FF40032002B18BF07F50032002380
 :10B2B00088610244CB61083A22F007024A60C2E981
 :10B2C0000033121A42604B680360C1E90222012078
 :10B2D00008704FF00040002C4FF0000571D0204066
@@ -7090,10 +7090,10 @@
 :10BAF0007FF48CAF86E700BF019C049A06EB020539
 :10BB00003CB980E50026019C002C06EB02053FF4C1
 :10BB10007AADFEF7F5F9206001F0FEFF284605B08A
-:10BB2000BDE8F08F0000000046F2E413C2F20143CA
-:10BB3000036045F6E470C2F20140086080201060A6
-:10BB4000704700000000000046F24463C2F2014367
-:10BB5000036046F24420C2F2014008604FF4807056
+:10BB2000BDE8F08F0000000046F2E413C2F20243C9
+:10BB3000036045F6E470C2F20240086080201060A5
+:10BB4000704700000000000046F24463C2F2024366
+:10BB5000036046F24420C2F2024008604FF4807055
 :10BB6000106070470000000002464FF0FF3142F8BD
 :10BB7000081F00214260C0E90322016070470000F5
 :10BB8000002101617047000010B5D1F800C01CF120
@@ -7137,7 +7137,7 @@
 :10BDE000BFF36F8FBFF34F8FFEE700BF4EF60C51CE
 :10BDF000CEF200010968406801F4E061814298BF19
 :10BE000070474FF0500080F31188BFF36F8FBFF37E
-:10BE10004F8F00BFFEE7000046F2A46CC2F2014C57
+:10BE10004F8F00BFFEE7000046F2A46CC2F2024C56
 :10BE2000DCF8002022B3634653F8082F42B3634680
 :10BE300053F8102F52B3634653F8182F62B363467A
 :10BE400053F8202F72B3634653F8282F82B363460A
@@ -8195,7 +8195,7 @@
 :020000040802F0
 :1000000091AC010800000000380102080000002443
 :10001000C01000000803000898030208C010002464
-:10002000288601006403000810010000430000005E
+:10002000288602006403000810010000430000005D
 :10003000F8FFFFFF00404040404040404040414109
 :1000400041414140404040404040404040404040AD
 :100050004040404040050202020202020202020247
diff --git a/utils/Simulation-master/balance/series_legs/get_k_length.m b/utils/Simulation-master/balance/series_legs/get_k_length.m
index e55e912..1237a19 100644
--- a/utils/Simulation-master/balance/series_legs/get_k_length.m
+++ b/utils/Simulation-master/balance/series_legs/get_k_length.m
@@ -48,8 +48,8 @@ function K = get_k_length(leg_length)
     B=subs(B,[R,L,LM,l,mw,mp,M,Iw,Ip,IM,g],[R1,L1,LM1,l1,mw1,mp1,M1,Iw1,Ip1,IM1,9.8]);
     B=double(B);
     
-    Q=diag([1  1  20  5  50 1]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
-    R=[1.2 0;0 0.25];                %T Tp
+    Q=diag([1  1  20  5  200 1]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
+    R=[1.5 0;0 0.25];                %T Tp
     
     K=lqr(A,B,Q,R);