diff --git a/User/device/mrobot.c b/User/device/mrobot.c
index 09cfa31..65cfe1b 100644
--- a/User/device/mrobot.c
+++ b/User/device/mrobot.c
@@ -96,6 +96,7 @@ static void uart_tx_callback(void);
 static void uart_rx_callback(void);
 static void send_string(const char *str);
 static void send_prompt(void);
+static int format_float_va(char *buf, size_t size, const char *fmt, va_list args);
 
 /* CLI 命令定义表 */
 static const CLI_Command_Definition_t builtin_commands[] = {
@@ -650,21 +651,13 @@ const MRobot_Device_t *MRobot_FindDevice(const char *name) {
     return NULL;
 }
 
-MRobot_Error_t MRobot_Print(const char *str) {
-    if (str == NULL) return MROBOT_ERR_NULL_PTR;
-    if (!ctx.initialized) return MROBOT_ERR_NOT_INIT;
-    
-    send_string(str);
-    return MROBOT_OK;
-}
-
 int MRobot_Printf(const char *fmt, ...) {
     if (fmt == NULL || !ctx.initialized) return -1;
     
     char buffer[MROBOT_OUTPUT_BUFFER_SIZE];
     va_list args;
     va_start(args, fmt);
-    int len = vsnprintf(buffer, sizeof(buffer), fmt, args);
+    int len = format_float_va(buffer, sizeof(buffer), fmt, args);
     va_end(args);
     
     if (len > 0) {
@@ -673,6 +666,132 @@ int MRobot_Printf(const char *fmt, ...) {
     return len;
 }
 
+/**
+ * @brief 内部函数：格式化浮点数到缓冲区（va_list 版本）
+ */
+static int format_float_va(char *buf, size_t size, const char *fmt, va_list args) {
+    if (buf == NULL || size == 0 || fmt == NULL) return 0;
+    
+    char *buf_ptr = buf;
+    size_t buf_remain = size - 1;
+    
+    const char *p = fmt;
+    while (*p && buf_remain > 0) {
+        if (*p != '%') {
+            *buf_ptr++ = *p++;
+            buf_remain--;
+            continue;
+        }
+        
+        p++;  /* 跳过 '%' */
+        
+        /* 处理 %% */
+        if (*p == '%') {
+            *buf_ptr++ = '%';
+            buf_remain--;
+            p++;
+            continue;
+        }
+        
+        /* 解析精度 %.Nf */
+        int precision = 2;  /* 默认精度 */
+        if (*p == '.') {
+            p++;
+            precision = 0;
+            while (*p >= '0' && *p <= '9') {
+                precision = precision * 10 + (*p - '0');
+                p++;
+            }
+            if (precision > 6) precision = 6;
+        }
+        
+        int written = 0;
+        switch (*p) {
+            case 'f': {  /* 浮点数 */
+                double val = va_arg(args, double);
+                written = MRobot_FormatFloat(buf_ptr, buf_remain, (float)val, precision);
+                break;
+            }
+            case 'd':
+            case 'i': {
+                int val = va_arg(args, int);
+                written = snprintf(buf_ptr, buf_remain, "%d", val);
+                break;
+            }
+            case 'u': {
+                unsigned int val = va_arg(args, unsigned int);
+                written = snprintf(buf_ptr, buf_remain, "%u", val);
+                break;
+            }
+            case 'x': {
+                unsigned int val = va_arg(args, unsigned int);
+                written = snprintf(buf_ptr, buf_remain, "%x", val);
+                break;
+            }
+            case 'X': {
+                unsigned int val = va_arg(args, unsigned int);
+                written = snprintf(buf_ptr, buf_remain, "%X", val);
+                break;
+            }
+            case 's': {
+                const char *str = va_arg(args, const char *);
+                if (str == NULL) str = "(null)";
+                written = snprintf(buf_ptr, buf_remain, "%s", str);
+                break;
+            }
+            case 'c': {
+                int ch = va_arg(args, int);
+                *buf_ptr = (char)ch;
+                written = 1;
+                break;
+            }
+            case 'l': {
+                p++;
+                if (*p == 'd' || *p == 'i') {
+                    long val = va_arg(args, long);
+                    written = snprintf(buf_ptr, buf_remain, "%ld", val);
+                } else if (*p == 'u') {
+                    unsigned long val = va_arg(args, unsigned long);
+                    written = snprintf(buf_ptr, buf_remain, "%lu", val);
+                } else if (*p == 'x' || *p == 'X') {
+                    unsigned long val = va_arg(args, unsigned long);
+                    written = snprintf(buf_ptr, buf_remain, *p == 'x' ? "%lx" : "%lX", val);
+                } else {
+                    p--;
+                }
+                break;
+            }
+            default: {
+                *buf_ptr++ = '%';
+                buf_remain--;
+                if (buf_remain > 0) {
+                    *buf_ptr++ = *p;
+                    buf_remain--;
+                }
+                written = 0;
+                break;
+            }
+        }
+        
+        if (written > 0) {
+            buf_ptr += written;
+            buf_remain -= (size_t)written;
+        }
+        p++;
+    }
+    
+    *buf_ptr = '\0';
+    return (int)(buf_ptr - buf);
+}
+
+int MRobot_Snprintf(char *buf, size_t size, const char *fmt, ...) {
+    va_list args;
+    va_start(args, fmt);
+    int len = format_float_va(buf, size, fmt, args);
+    va_end(args);
+    return len;
+}
+
 int MRobot_FormatFloat(char *buf, size_t size, float val, int precision) {
     if (buf == NULL || size == 0) return 0;
     
diff --git a/User/device/mrobot.h b/User/device/mrobot.h
index 3461bf2..99c1164 100644
--- a/User/device/mrobot.h
+++ b/User/device/mrobot.h
@@ -124,7 +124,7 @@ extern "C" {
 /* 可在编译时通过 -D 选项覆盖这些默认值 */
 
 #ifndef MROBOT_MAX_DEVICES
-#define MROBOT_MAX_DEVICES          32      /* 最大设备数 */
+#define MROBOT_MAX_DEVICES          64      /* 最大设备数 */
 #endif
 
 #ifndef MROBOT_MAX_CUSTOM_COMMANDS
@@ -156,11 +156,11 @@ extern "C" {
 #endif
 
 #ifndef MROBOT_USER_NAME
-#define MROBOT_USER_NAME            "Robofish"         /* CLI 用户名 */
+#define MROBOT_USER_NAME            "root"         /* CLI 用户名 */
 #endif
 
 #ifndef MROBOT_HOST_NAME
-#define MROBOT_HOST_NAME            "balance_infantry"       /* CLI 主机名 */
+#define MROBOT_HOST_NAME            "MRobot"       /* CLI 主机名 */
 #endif
 
 /* Error codes -------------------------------------------------------------- */
@@ -272,20 +272,37 @@ const MRobot_Device_t *MRobot_FindDevice(const char *name);
 void MRobot_Run(void);
 
 /**
- * @brief 发送字符串到 CLI 终端（线程安全）
- * @param str 要发送的字符串
- * @return MRobot_Error_t 错误码
- */
-MRobot_Error_t MRobot_Print(const char *str);
-
-/**
- * @brief 格式化输出到 CLI 终端（线程安全）
+ * @brief 格式化输出到 CLI 终端（线程安全，支持浮点数）
  * @param fmt 格式字符串
  * @param ... 可变参数
  * @return 实际输出的字符数，失败返回负数
+ * 
+ * @note 支持的格式说明符:
+ *   - %d, %i, %u, %x, %X, %ld, %lu, %lx  : 整数
+ *   - %s, %c   : 字符串/字符
+ *   - %f       : 浮点数 (默认2位小数)
+ *   - %.Nf     : 浮点数 (N位小数, N=0-6)
+ *   - %%       : 百分号
+ * 
+ * @example
+ *   MRobot_Printf("Euler: R=%.2f P=%.2f Y=%.2f\\r\\n", roll, pitch, yaw);
  */
 int MRobot_Printf(const char *fmt, ...);
 
+/**
+ * @brief 格式化到缓冲区（用于回调函数，支持浮点数）
+ * @note 格式说明符同 MRobot_Printf
+ * 
+ * @example
+ *   static int print_imu(const void *data, char *buf, size_t size) {
+ *       const BMI088_t *imu = (const BMI088_t *)data;
+ *       return MRobot_Snprintf(buf, size,
+ *           "  Accel: X=%.3f Y=%.3f Z=%.3f\\r\\n",
+ *           imu->accl.x, imu->accl.y, imu->accl.z);
+ *   }
+ */
+int MRobot_Snprintf(char *buf, size_t size, const char *fmt, ...);
+
 /* Utility functions -------------------------------------------------------- */
 
 /**
diff --git a/User/task/atti_esit.c b/User/task/atti_esit.c
index af7dad7..66e4487 100644
--- a/User/task/atti_esit.c
+++ b/User/task/atti_esit.c
@@ -21,22 +21,11 @@
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
-
-/* 自定义 IMU 数据结构 */
-typedef struct {
-    DEVICE_Header_t header;
-    AHRS_Accl_t accl;           /* 加速度 m/s² */
-    AHRS_Gyro_t gyro;           /* 角速度 rad/s */
-    AHRS_Eulr_t euler;          /* 欧拉角 rad */
-    AHRS_Quaternion_t quat;     /* 四元数 */
-    float temp;                 /* 温度 °C */
-} MyIMU_Data_t;
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
 BMI088_t bmi088;
-MyIMU_Data_t imu_device;  /* 使用自定义结构 */
 #ifndef USE_QEKF
 AHRS_t gimbal_ahrs;
 AHRS_Magn_t magn;
@@ -64,53 +53,23 @@ static const KPID_Params_t imu_temp_ctrl_pid_param = {
 /* Private function --------------------------------------------------------- */
 
 /**
- * @brief IMU 设备打印回调函数（用户自定义格式）
+ * @brief IMU 设备打印回调函数
  */
 static int print_imu_callback(const void *data, char *buffer, size_t size) {
-    const MyIMU_Data_t *imu = (const MyIMU_Data_t *)data;
-    
-    /* 弧度转角度 */
+    const BMI088_t *imu = (const BMI088_t *)data;
     #define RAD2DEG 57.2957795131f
     
-    /* 使用 MRobot 提供的工具函数格式化浮点数 */
-    char ax[16], ay[16], az[16];
-    char gx[16], gy[16], gz[16];
-    char roll[16], pitch[16], yaw[16];
-    char q0[16], q1[16], q2[16], q3[16];
-    char temp[16];
-    
-    MRobot_FormatFloat(ax, sizeof(ax), imu->accl.x, 3);
-    MRobot_FormatFloat(ay, sizeof(ay), imu->accl.y, 3);
-    MRobot_FormatFloat(az, sizeof(az), imu->accl.z, 3);
-    
-    MRobot_FormatFloat(gx, sizeof(gx), imu->gyro.x, 3);
-    MRobot_FormatFloat(gy, sizeof(gy), imu->gyro.y, 3);
-    MRobot_FormatFloat(gz, sizeof(gz), imu->gyro.z, 3);
-    
-    MRobot_FormatFloat(roll, sizeof(roll), imu->euler.rol * RAD2DEG, 2);
-    MRobot_FormatFloat(pitch, sizeof(pitch), imu->euler.pit * RAD2DEG, 2);
-    MRobot_FormatFloat(yaw, sizeof(yaw), imu->euler.yaw * RAD2DEG, 2);
-    
-    MRobot_FormatFloat(q0, sizeof(q0), imu->quat.q0, 4);
-    MRobot_FormatFloat(q1, sizeof(q1), imu->quat.q1, 4);
-    MRobot_FormatFloat(q2, sizeof(q2), imu->quat.q2, 4);
-    MRobot_FormatFloat(q3, sizeof(q3), imu->quat.q3, 4);
-    
-    MRobot_FormatFloat(temp, sizeof(temp), imu->temp, 1);
-    
-    return snprintf(buffer, size,
+    return MRobot_Snprintf(buffer, size,
         "  Status : %s\r\n"
-        "  Accel  : X=%s  Y=%s  Z=%s (m/s^2)\r\n"
-        "  Gyro   : X=%s  Y=%s  Z=%s (rad/s)\r\n"
-        "  Euler  : R=%s  P=%s  Y=%s (deg)\r\n"
-        "  Quat   : q0=%s q1=%s q2=%s q3=%s\r\n"
-        "  Temp   : %s C\r\n",
+        "  Accel  : X=%.3f  Y=%.3f  Z=%.3f (m/s^2)\r\n"
+        "  Gyro   : X=%.3f  Y=%.3f  Z=%.3f (rad/s)\r\n"
+        "  Euler  : R=%.2f  P=%.2f  Y=%.2f (deg)\r\n"
+        "  Temp   : %.1f C\r\n",
         imu->header.online ? "Online" : "Offline",
-        ax, ay, az,
-        gx, gy, gz,
-        roll, pitch, yaw,
-        q0, q1, q2, q3,
-        temp);
+        imu->accl.x, imu->accl.y, imu->accl.z,
+        imu->gyro.x, imu->gyro.y, imu->gyro.z,
+        eulr_to_send.rol * RAD2DEG, eulr_to_send.pit * RAD2DEG, eulr_to_send.yaw * RAD2DEG,
+        imu->temp);
 }
 
 /* Exported functions ------------------------------------------------------- */
@@ -131,8 +90,8 @@ void Task_atti_esit(void *argument) {
            1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
   BSP_PWM_Start(BSP_PWM_IMU_HEAT);
   
-  /* 注册 IMU 设备到 MRobot（只需名称、数据、打印回调） */
-  MRobot_RegisterDevice("bmi088", &imu_device, print_imu_callback);
+  /* 注册 IMU 设备到 MRobot */
+  MRobot_RegisterDevice("bmi088", &bmi088, print_imu_callback);
   /* USER CODE INIT END */
 
   while (1) {
@@ -183,20 +142,6 @@ void Task_atti_esit(void *argument) {
                       0); // 非阻塞发送底盘IMU数据
     BSP_PWM_SetComp(BSP_PWM_IMU_HEAT, PID_Calc(&imu_temp_ctrl_pid, 40.5f,
                                                bmi088.temp, 0.0f, 0.0f));
-    /* 直接赋值 AHRS 结构体 - 完美兼容 */
-    imu_device.accl = bmi088.accl;
-    imu_device.gyro = bmi088.gyro;
-    imu_device.euler = eulr_to_send;
-#ifdef USE_QEKF
-    imu_device.quat.q0 = QEKF_INS.q[0];
-    imu_device.quat.q1 = QEKF_INS.q[1];
-    imu_device.quat.q2 = QEKF_INS.q[2];
-    imu_device.quat.q3 = QEKF_INS.q[3];
-#else
-    imu_device.quat = gimbal_ahrs.quat;
-#endif
-    imu_device.temp = bmi088.temp;
-    imu_device.header = bmi088.header;
     osKernelUnlock();
 
     /* USER CODE END */