diff --git a/User/module/config.c b/User/module/config.c
index 8adc415..2cf0bb5 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -506,8 +506,9 @@ Config_RobotParam_t robot_config = {
 #endif
 #if CMD_ENABLE_MODULE_BALANCE_CHASSIS
             .balance_sw_up   = CHASSIS_MODE_RELAX,
+            // .balance_sw_mid  = CHASSIS_MODE_WHELL_LEG_BALANCE,
+                .balance_sw_mid  = CHASSIS_MODE_RELAX,
             .balance_sw_mid  = CHASSIS_MODE_WHELL_LEG_BALANCE,
-            .balance_sw_down = CHASSIS_MODE_CLIMB_STEP,
 #endif
         },
     },
diff --git a/User/task/cap.c b/User/task/cap.c
index 971d0dd..b77fffd 100644
--- a/User/task/cap.c
+++ b/User/task/cap.c
@@ -53,13 +53,13 @@ void Task_cap(void *argument) {
 			
 			cap_online = get_supercap_online_state();
 			
-			osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
+			// osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
       /* 根据裁判系统数据计算输出功率 */
 			SuperCap_CanTX.Powerlimit = power_limit;
       Cap_Control(&CAN_SuperCapRXData, &referee_cap);
 			SuperCap_Update();
       CAN_TX_SuperCapData(&SuperCap_CanTX);
-      osKernelUnlock();
+      // osKernelUnlock();
 		  /* 将电容状态发送到Chassis */
 //      osMessageQueueReset(task_runtime.msgq.cap.for_chassis);
 //      osMessageQueuePut(task_runtime.msgq.cap.for_chassis, &CAN_SuperCapRXData, 0, 0);
diff --git a/User/task/rc.c b/User/task/rc.c
index 21ba275..910ece6 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -80,14 +80,18 @@ void Task_rc(void *argument) {
 
     /* 检测左拨杆切换到UP位置时触发软件复位 */
     if (dr16.header.online) {
-      /* 拨杆从非UP状态切换到UP状态，且复位功能已使能，触发系统复位 */
-      if (
-         dr16.data.sw_l == DR16_SW_UP &&
-          last_sw_l != DR16_SW_UP) {
-          reset=!reset; 
+      if (last_sw_l == DR16_SW_ERR) {
+        /* 首次上线，仅同步状态，不触发动作 */
+        last_sw_l = dr16.data.sw_l;
+      } else {
+        if (dr16.data.sw_l == DR16_SW_UP && last_sw_l != DR16_SW_UP) {
+          reset = !reset;
+        }
+        last_sw_l = dr16.data.sw_l;
       }
-
-      last_sw_l = dr16.data.sw_l;  /* 更新拨杆状态 */
+    } else {
+      /* 离线时重置为ERR，下次上线重新同步 */
+      last_sw_l = DR16_SW_ERR;
     }
 
     /* USER CODE END */