diff --git a/User/task/imu.c b/User/task/imu.c
index 580e291..e31a73c 100644
--- a/User/task/imu.c
+++ b/User/task/imu.c
@@ -27,12 +27,12 @@
 #define ACCEL_CAN_MIN       (-58.8f)
 #define GYRO_CAN_MAX        (34.88f)
 #define GYRO_CAN_MIN        (-34.88f)
-#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 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_PI)      /* π 弧度 ≈ 180° */
+#define ROLL_CAN_MIN        (-M_PI)     /* -π 弧度 ≈ -180° */
+#define YAW_CAN_MAX         (M_PI)      /* π 弧度 ≈ 180° */
+#define YAW_CAN_MIN         (-M_PI)     /* -π 弧度 ≈ -180° */
 #define QUATERNION_MIN      (-1.0f)
 #define QUATERNION_MAX      (1.0f)