diff --git a/User/component/user_math.h b/User/component/user_math.h
index d4531e6..21e1396 100644
--- a/User/component/user_math.h
+++ b/User/component/user_math.h
@@ -24,7 +24,9 @@ extern "C" {
 #ifndef M_PI
 #define M_PI 3.14159265358979323846f
 #endif
-
+#ifndef M_PI_2
+#define M_PI_2		1.57079632679489661923f
+#endif
 #ifndef M_2PI
 #define M_2PI 6.28318530717958647692f
 #endif
diff --git a/User/device/virtual_chassis.c b/User/device/virtual_chassis.c
index 227031a..22219ee 100644
--- a/User/device/virtual_chassis.c
+++ b/User/device/virtual_chassis.c
@@ -119,12 +119,12 @@ static int8_t Virtual_Chassis_DecodeWheelMotor(Virtual_Chassis_t *chassis, uint1
 #define ACCEL_CAN_MIN       (-58.8f)
 #define GYRO_CAN_MAX        (34.88f)
 #define GYRO_CAN_MIN        (-34.88f)
-#define PITCH_CAN_MAX       (90.0f)
-#define PITCH_CAN_MIN       (-90.0f)
-#define ROLL_CAN_MAX        (180.0f)
-#define ROLL_CAN_MIN        (-180.0f)
-#define YAW_CAN_MAX         (180.0f)
-#define YAW_CAN_MIN         (-180.0f)
+#define PITCH_CAN_MAX       (M_PI_2)   /* π/2 弧度 ≈ 90° */
+#define PITCH_CAN_MIN       (-M_PI_2)  /* -π/2 弧度 ≈ -90° */
+#define ROLL_CAN_MAX        (M_2PI)
+#define ROLL_CAN_MIN        (-M_2PI)
+#define YAW_CAN_MAX         (M_2PI)
+#define YAW_CAN_MIN         (-M_PI_2)  /* -π 弧度 ≈ -180° */
 #define QUATERNION_MIN      (-1.0f)
 #define QUATERNION_MAX      (1.0f)