diff --git a/User/device/virtual_chassis.c b/User/device/virtual_chassis.c
index 9269a46..118cd81 100644
--- a/User/device/virtual_chassis.c
+++ b/User/device/virtual_chassis.c
@@ -62,7 +62,7 @@ static int8_t Virtual_Chassis_DecodeIMU(Virtual_Chassis_t *chassis, uint8_t id,
     }
 
     switch (id) {
-        case 0x66: { // 加速度计数据 - x/y/z 各2字节，精度0.01g
+        case 150: { // 加速度计数据 - x/y/z 各2字节，精度0.01g
             int16_t x, y, z;
             memcpy(&x, &data[0], 2);
             memcpy(&y, &data[2], 2);
@@ -72,7 +72,7 @@ static int8_t Virtual_Chassis_DecodeIMU(Virtual_Chassis_t *chassis, uint8_t id,
             chassis->data.imu.accl.z = z / 100.0f;
             break;
         }
-        case 0x67: { // 陀螺仪数据 - x/y/z 各2字节，精度0.01°/s，需转回弧度/s
+        case 151: { // 陀螺仪数据 - x/y/z 各2字节，精度0.01°/s，需转回弧度/s
             int16_t x, y, z;
             memcpy(&x, &data[0], 2);
             memcpy(&y, &data[2], 2);
@@ -82,7 +82,7 @@ static int8_t Virtual_Chassis_DecodeIMU(Virtual_Chassis_t *chassis, uint8_t id,
             chassis->data.imu.gyro.z = (z / 100.0f) * 0.0174533f;
             break;
         }
-        case 0x68: { // 欧拉角数据 - yaw/pitch/roll 各2字节，精度0.01°，需转回弧度
+        case 152: { // 欧拉角数据 - yaw/pitch/roll 各2字节，精度0.01°，需转回弧度
             int16_t yaw, pit, rol;
             memcpy(&yaw, &data[0], 2);
             memcpy(&pit, &data[2], 2);
@@ -92,7 +92,7 @@ static int8_t Virtual_Chassis_DecodeIMU(Virtual_Chassis_t *chassis, uint8_t id,
             chassis->data.imu.euler.rol = (rol / 100.0f) * 0.0174533f;
             break;
         }
-        case 0x69: { // 四元数数据 - q0/q1/q2/q3 各2字节，精度0.0001
+        case 153: { // 四元数数据 - q0/q1/q2/q3 各2字节，精度0.0001
             int16_t q0, q1, q2, q3;
             memcpy(&q0, &data[0], 2);
             memcpy(&q1, &data[2], 2);
@@ -136,7 +136,7 @@ int8_t Virtual_Chassis_Init(Virtual_Chassis_t *chassis, Virtual_Chassis_Param_t
 
     for (int i = 0; i < 4; i++) {
         BSP_CAN_RegisterId(chassis->param.motors.can, 124 + i, 3); // 电机反馈ID
-        BSP_CAN_RegisterId(chassis->param.imu.can, 0x66 + i, 3);
+        BSP_CAN_RegisterId(chassis->param.imu.can, 150 + i, 3);
     }
     
     // 设置设备在线状态
@@ -158,10 +158,10 @@ int8_t Virtual_Chassis_Update(Virtual_Chassis_t *chassis) {
     BSP_CAN_Message_t msg;
 
     for (int i = 0; i < 4; i++){
-        if(BSP_CAN_GetMessage(chassis->param.imu.can, 0x66 + i, &msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK){
+        if(BSP_CAN_GetMessage(chassis->param.imu.can, 150 + i, &msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK){
             continue;
         } else {
-            Virtual_Chassis_DecodeIMU(chassis, 0x66 + i, msg.data);
+            Virtual_Chassis_DecodeIMU(chassis, 150 + i, msg.data);
         }
     }