diff --git a/User/task/atti_esti.c b/User/task/atti_esti.c
index 0ef10e8..4c666b3 100644
--- a/User/task/atti_esti.c
+++ b/User/task/atti_esti.c
@@ -43,13 +43,13 @@ void Task_atti_esti(void *argument) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
     
-    // if (DM_IMU_AutoUpdateAll(&dm_imu) == DEVICE_OK) {
-    //     osMessageQueueReset(task_runtime.msgq.chassis_imu); // 重置消息队列，防止阻塞
-    //     chassis_imu_send.accl = dm_imu.data.accl;
-    //     chassis_imu_send.gyro = dm_imu.data.gyro;
-    //     chassis_imu_send.euler = dm_imu.data.euler;
-    //     osMessageQueuePut(task_runtime.msgq.chassis_imu, &chassis_imu_send, 0, 0); // 非阻塞发送IMU数据
-    // }
+    if (DM_IMU_AutoUpdateAll(&dm_imu) == DEVICE_OK) {
+        osMessageQueueReset(task_runtime.msgq.chassis_imu); // 重置消息队列，防止阻塞
+        chassis_imu_send.accl = dm_imu.data.accl;
+        chassis_imu_send.gyro = dm_imu.data.gyro;
+        chassis_imu_send.euler = dm_imu.data.euler;
+        osMessageQueuePut(task_runtime.msgq.chassis_imu, &chassis_imu_send, 0, 0); // 非阻塞发送IMU数据
+    }
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
diff --git a/User/task/init.c b/User/task/init.c
index f41b86a..e43ddc1 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -35,8 +35,8 @@ void Task_Init(void *argument) {
   task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
   task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
   task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
-  task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);
-  task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal);
+  // task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);
+  // task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */