From 9fa8a6cb81f972020cbcbc6a4cd110bcaca36713 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sat, 21 Mar 2026 02:07:34 +0800
Subject: [PATCH] =?UTF-8?q?=E4=B8=BA=E4=BA=86=E5=80=92=E5=9C=B0=E8=87=AA?=
 =?UTF-8?q?=E8=B5=B7?=
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---
 User/module/cmd/cmd.c | 16 ++++++++--------
 User/module/config.c  |  4 ++--
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c
index 1a88edc..4507044 100644
--- a/User/module/cmd/cmd.c
+++ b/User/module/cmd/cmd.c
@@ -656,8 +656,8 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
     if (ctx->active_source==CMD_SRC_RC) {
       if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
         // 用遥控器调自瞄的时候打开下面两行
-        ctx->output.gimbal.source = CMD_SRC_NUC;
-        ctx->output.shoot.source = CMD_SRC_NUC;
+        // ctx->output.gimbal.source = CMD_SRC_NUC;
+        // ctx->output.shoot.source = CMD_SRC_NUC;
 #if CMD_ENABLE_MODULE_REFUI
         ctx->output.refui.source = CMD_SRC_NUC;
 #endif
@@ -665,12 +665,12 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
   }
 }
 #endif
-      // if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
-      //   ctx->output.balance_chassis.source = CMD_SRC_RC;
-      //   ctx->output.gimbal.source = CMD_SRC_RC;
-      //   ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_LEG_TEST;
-      //   ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RECOVER;
-      // }
+      if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
+        ctx->output.balance_chassis.source = CMD_SRC_RC;
+        ctx->output.gimbal.source = CMD_SRC_RC;
+        ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_LEG_TEST;
+        ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RECOVER;
+      }
   return CMD_OK;
 }
 
diff --git a/User/module/config.c b/User/module/config.c
index 3f7bf2d..7918759 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -545,8 +545,8 @@ Config_RobotParam_t robot_config = {
             //  .balance_sw_mid   = CHASSIS_MODE_RELAX,
             //   .balance_sw_down   = CHASSIS_MODE_RELAX,
             .balance_sw_mid  =CHASSIS_MODE_WHELL_LEG_BALANCE,
-            // .balance_sw_down = CHASSIS_MODE_LEG_TEST,
-                .balance_sw_down = CHASSIS_MODE_WHELL_LEG_BALANCE,
+            .balance_sw_down = CHASSIS_MODE_LEG_TEST,
+                // .balance_sw_down = CHASSIS_MODE_WHELL_LEG_BALANCE,
 #endif
         },
     },