diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index e69de29..8cf2da1 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -0,0 +1,259 @@
+/*
+ * 云台模组
+ */
+
+/* Includes ----------------------------------------------------------------- */
+#include "gimbal.h"
+
+#include "bsp/mm.h"
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* Private function  -------------------------------------------------------- */
+
+/**
+ * \brief 设置云台模式
+ *
+ * \param c 包含云台数据的结构体
+ * \param mode 要设置的模式
+ *
+ * \return 函数运行结果
+ */
+static int8_t Gimbal_SetMode(Gimbal_t *g, CMD_GimbalMode_t mode) {
+  if (g == NULL) return -1;
+  if (mode == g->mode) return GIMBAL_OK;
+
+  /* 切换模式后重置PID和滤波器 */
+  for (uint8_t i = 0; i < GIMBAL_PID_NUM; i++) {
+    PID_Reset(g->pid + i);
+  }
+  for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) {
+    LowPassFilter2p_Reset(g->filter_out + i, 0.0f);
+  }
+
+  AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
+  if (g->mode == GIMBAL_MODE_RELAX) {
+    if (mode == GIMBAL_MODE_ABSOLUTE) {
+      // g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
+      g->setpoint.eulr.yaw = 3.7f;
+      g->setpoint.eulr.pit = 2.2f;
+    } else if (mode == GIMBAL_MODE_RELATIVE) {
+      g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
+    }
+  }
+
+  g->mode = mode;
+  return 0;
+}
+
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * \brief 初始化云台
+ *
+ * \param g 包含云台数据的结构体
+ * \param param 包含云台参数的结构体指针
+ * \param target_freq 任务预期的运行频率
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param, float limit_max,
+                   float target_freq) {
+  if (g == NULL) return -1;
+
+  g->param = param;            /* 初始化参数 */
+  g->mode = GIMBAL_MODE_RELAX; /* 设置默认模式 */
+
+  /* 设置软件限位 */
+  if (g->param->reverse.pit) CircleReverse(&limit_max);
+  g->limit.min = g->limit.max = limit_max;
+  CircleAdd(&(g->limit.min), -g->param->pitch_travel_rad, M_2PI);
+
+  /* 初始化云台电机控制PID和LPF */
+  PID_Init(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), KPID_MODE_NO_D, target_freq,
+           &(g->param->pid[GIMBAL_PID_YAW_ANGLE_IDX]));
+  PID_Init(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), KPID_MODE_CALC_D, target_freq,
+           &(g->param->pid[GIMBAL_PID_YAW_OMEGA_IDX]));
+
+  PID_Init(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), KPID_MODE_NO_D, target_freq,
+           &(g->param->pid[GIMBAL_PID_PIT_ANGLE_IDX]));
+  PID_Init(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), KPID_MODE_CALC_D, target_freq,
+           &(g->param->pid[GIMBAL_PID_PIT_OMEGA_IDX]));
+
+  for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) {
+    LowPassFilter2p_Init(g->filter_out + i, target_freq,
+                         g->param->low_pass_cutoff_freq.out);
+  }
+  return 0;
+}
+
+/**
+ * \brief 通过CAN设备更新云台反馈信息
+ *
+ * \param gimbal 云台
+ * \param can CAN设备
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal, const CAN_t *can) {
+  if (gimbal == NULL) return -1;
+  if (can == NULL) return -1;
+
+  gimbal->feedback.eulr.encoder.yaw = can->motor.gimbal.named.yaw.rotor_angle;
+  gimbal->feedback.eulr.encoder.pit = can->motor.gimbal.named.pit.rotor_angle;
+
+  if (gimbal->param->reverse.yaw)
+    CircleReverse(&(gimbal->feedback.eulr.encoder.yaw));
+  if (gimbal->param->reverse.pit)
+    CircleReverse(&(gimbal->feedback.eulr.encoder.pit));
+
+  return 0;
+}
+
+/**
+ * \brief 运行云台控制逻辑
+ *
+ * \param g 包含云台数据的结构体
+ * \param fb 云台反馈信息
+ * \param g_cmd 云台控制指令
+ * \param dt_sec 两次调用的时间间隔
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
+  if (g == NULL) return -1;
+  if (g_cmd == NULL) return -1;
+
+  g->dt = (float)(now - g->lask_wakeup) / 1000.0f;
+  g->lask_wakeup = now;
+
+  Gimbal_SetMode(g, g_cmd->mode);
+
+  /* yaw坐标正方向与遥控器操作逻辑相反 */
+  g_cmd->delta_eulr.pit = -g_cmd->delta_eulr.pit;
+  g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
+
+  /* 处理yaw控制命令 */
+  CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);
+
+  /* 处理pitch控制命令，软件限位 */
+  const float delta_max =
+      CircleError(g->limit.max,
+                  (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
+                   g->feedback.eulr.encoder.pit),
+                  M_2PI);
+  const float delta_min =
+      CircleError(g->limit.min,
+                  (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
+                   g->feedback.eulr.encoder.pit),
+                  M_2PI);
+  Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
+  g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
+
+  /* 限制yaw转动范围（待优化） */
+  if (g->setpoint.eulr.yaw > 5.9f && g->setpoint.eulr.yaw < 6.01f) {
+      g->setpoint.eulr.yaw = 5.9f;
+  } else if (g->setpoint.eulr.yaw > 1.4f && g->setpoint.eulr.yaw < 1.71f) {
+      g->setpoint.eulr.yaw = 1.71f;
+  }
+  
+
+  /* 重置输入指令，防止重复处理 */
+  AHRS_ResetEulr(&(g_cmd->delta_eulr));
+
+  /* 控制相关逻辑 */
+  float yaw_omega_set_point, pit_omega_set_point;
+  switch (g->mode) {
+    case GIMBAL_MODE_RELAX:
+      for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) g->out[i] = 0.0f;
+      break;
+
+    case GIMBAL_MODE_ABSOLUTE:
+      yaw_omega_set_point =
+          PID_Calc(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw,
+                   g->feedback.eulr.encoder.yaw, 0.0f, g->dt);
+      g->out[GIMBAL_ACTR_YAW_IDX] =
+          PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point,
+                   0.0, 0.f, g->dt);
+
+      pit_omega_set_point =
+          PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
+                   g->feedback.eulr.encoder.pit, 0.0f, g->dt);
+      g->out[GIMBAL_ACTR_PIT_IDX] =
+          PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
+                   0.0, 0.f, g->dt);
+      break;
+
+    case GIMBAL_MODE_RELATIVE:
+      for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) g->out[i] = 0.0f;
+      break;
+  }
+
+  /* 输出滤波 */
+  for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++)
+    g->out[i] = LowPassFilter2p_Apply(g->filter_out + i, g->out[i]);
+
+  /* 处理电机反装 */
+  if (g->param->reverse.yaw)
+    g->out[GIMBAL_ACTR_YAW_IDX] = -g->out[GIMBAL_ACTR_YAW_IDX];
+  if (g->param->reverse.pit)
+    g->out[GIMBAL_ACTR_PIT_IDX] = -g->out[GIMBAL_ACTR_PIT_IDX];
+
+  if (g->out[GIMBAL_ACTR_YAW_IDX] < 0.f) {
+    __NOP();
+  }
+
+  if (g->out[GIMBAL_ACTR_PIT_IDX] > 0.5f) {
+    __NOP();
+  }
+  return 0;
+}
+
+/**
+ * \brief 打包云台数据给AI
+ *
+ * \param g 包含云台数据的结构体
+ * \param gimbal_for_ai 云台AI数据
+ *
+ * \return 函数运行结果
+ */
+uint8_t Gimbal_PackAI(Gimbal_t *g, const AHRS_Eulr_t *ai){
+  memcpy((void *)ai, (const void *)&(g->feedback.eulr.encoder),
+  sizeof(g->feedback.eulr.encoder));
+return 0;
+}
+
+/**
+ * \brief 复制云台输出值
+ *
+ * \param s 包含云台数据的结构体
+ * \param out CAN设备云台输出结构体
+ */
+void Gimbal_DumpOutput(Gimbal_t *g, CAN_GimbalOutput_t *out) {
+  out->named.yaw = g->out[GIMBAL_ACTR_YAW_IDX];
+  out->named.pit = g->out[GIMBAL_ACTR_PIT_IDX];
+}
+
+/**
+ * \brief 清空输出值
+ *
+ * \param output 要清空的结构体
+ */
+void Gimbal_ResetOutput(CAN_GimbalOutput_t *output) {
+  int i = 0;
+  for (i = 0; i < 3; i++) {
+    output->as_array[i] = 0.0f;
+  }
+}
+
+/**
+ * @brief 导出云台UI数据
+ *
+ * @param g 云台结构体
+ * @param ui UI结构体
+ */
+void Gimbal_DumpUI(const Gimbal_t *g, Referee_GimbalUI_t *ui) {
+  ui->mode = g->mode;
+}
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index e69de29..6f34545 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -0,0 +1,172 @@
+/*
+ * 云台模组
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "component/ahrs.h"
+#include "component/filter.h"
+#include "component/pid.h"
+#include "device/motor_rm.h"
+#include "device/motor_dm.h"
+
+/* Exported constants ------------------------------------------------------- */
+#define GIMBAL_OK (0)        /* 运行正常 */
+#define GIMBAL_ERR (-1)      /* 运行时发现了其他错误 */
+#define GIMBAL_ERR_NULL (-2) /* 运行时发现NULL指针 */
+#define GIMBAL_ERR_MODE (-3) /* 运行时配置了错误的CMD_GimbalMode_t */
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+typedef enum {
+  GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
+  GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
+  GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
+} Gimbal_Mode_t;
+
+/* 云台参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/
+typedef struct {
+  KPID_Params_t yaw_omega;   /* yaw轴角速度环PID参数 */
+  KPID_Params_t yaw_angle;   /* yaw轴角位置环PID参数 */
+  KPID_Params_t pit_omega;   /* pitch轴角速度环PID参数 */
+  KPID_Params_t pit_angle;   /* pitch轴角位置环PID参数 */
+
+  /* 低通滤波器截止频率 */
+  struct {
+    float out;  /* 电机输出 */
+    float gyro; /* 陀螺仪数据 */
+  } low_pass_cutoff_freq;
+
+  struct {
+    float zero_yaw;   /* yaw轴零点位置，单位弧度 */
+    float zero_pitch; /* pitch轴零点位置，单位弧度 */
+    float yaw_travel_rad; /* 云台pitch轴行程弧度，-1表示无限位 */
+    float pitch_travel_rad; /* 云台pitch轴行程弧度，-1表示无限位 */
+  } mech_limit;
+  
+} Gimbal_Params_t;
+
+/* 软件限位 */
+typedef struct {
+  float max;
+  float min;
+} Gimbal_Limit_t;
+
+/* 云台反馈数据的结构体，包含反馈控制用的反馈数据 */
+typedef struct {
+  AHRS_Gyro_t gyro; /* IMU的陀螺仪数据 */
+
+  /* 欧拉角 */
+  struct {
+    AHRS_Eulr_t imu;     /* 由IMU计算的欧拉角 */
+    AHRS_Eulr_t encoder; /* 由编码器计算的欧拉角 */
+  } eulr;
+} Gimbal_Feedback_t;
+
+/*
+ * 运行的主结构体，所有这个文件里的函数都在操作这个结构体。
+ * 包含了初始化参数，中间变量，输出变量。
+ */
+typedef struct {
+  uint64_t lask_wakeup;
+  float dt;
+
+  Gimbal_Params_t *param; /* 云台的参数，用Gimbal_Init设定 */
+
+  /* 模块通用 */
+  CMD_GimbalMode_t mode; /* 云台模式 */
+
+  /* PID计算的目标值 */
+  struct {
+    AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */
+  } setpoint;
+
+  KPID_t pid[GIMBAL_PID_NUM]; /* PID数组 */
+
+  Gimbal_Limit_t limit;
+
+  LowPassFilter2p_t filter_out[GIMBAL_ACTR_NUM]; /* 输出滤波器滤波器数组 */
+
+  float out[GIMBAL_ACTR_NUM]; /* 输出数组 */
+
+  Gimbal_Feedback_t feedback; /* 反馈 */
+
+} Gimbal_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * \brief 初始化云台
+ *
+ * \param g 包含云台数据的结构体
+ * \param param 包含云台参数的结构体指针
+ * \param target_freq 任务预期的运行频率
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param, float limit,
+                   float target_freq);
+
+/**
+ * \brief 通过CAN设备更新云台反馈信息
+ *
+ * \param gimbal 云台
+ * \param can CAN设备
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal, const CAN_t *can);
+
+/**
+ * \brief 运行云台控制逻辑
+ *
+ * \param g 包含云台数据的结构体
+ * \param fb 云台反馈信息
+ * \param g_cmd 云台控制指令
+ * \param dt_sec 两次调用的时间间隔
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now);
+
+/**
+ * \brief 打包云台数据给AI
+ *
+ * \param g 包含云台数据的结构体
+ * \param gimbal_for_ai 云台AI数据
+ *
+ * \return 函数运行结果
+ */
+uint8_t Gimbal_PackAI(Gimbal_t *g, const AHRS_Eulr_t *ai);
+
+/**
+ * \brief 复制云台输出值
+ *
+ * \param s 包含云台数据的结构体
+ * \param out CAN设备云台输出结构体
+ */
+void Gimbal_DumpOutput(Gimbal_t *g, CAN_GimbalOutput_t *out);
+
+/**
+ * \brief 清空输出值
+ *
+ * \param output 要清空的结构体
+ */
+void Gimbal_ResetOutput(CAN_GimbalOutput_t *output);
+
+/**
+ * @brief 导出云台UI数据
+ *
+ * @param g 云台结构体
+ * @param ui UI结构体
+ */
+void Gimbal_DumpUI(const Gimbal_t *g, Referee_GimbalUI_t *ui);
+#ifdef __cplusplus
+}
+#endif