diff --git a/User/device/referee.h b/User/device/referee.h
index e74582b..a771bb5 100644
--- a/User/device/referee.h
+++ b/User/device/referee.h
@@ -574,11 +574,6 @@ typedef struct {
   osTimerId_t ui_slow_timer_id;
 } Referee_t;
 
-/* Referee_ChassisUI_t 已移至 module/chassis.h */
-/* Referee_CapUI_t     已移至 device/supercap.h */
-/* Referee_GimbalUI_t  已移至 module/gimbal.h   */
-/* Referee_ShootUI_t   已移至 module/shoot.h    */
-
 typedef struct __packed {
   /* UI缓冲数据 */
   UI_Ele_t grapic[REF_UI_MAX_GRAPIC_NUM];
diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c
index 9219749..c13f9e5 100644
--- a/User/module/cmd/cmd.c
+++ b/User/module/cmd/cmd.c
@@ -59,8 +59,8 @@ static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
   }
   
   /* 左摇杆控制云台 */
-  ctx->output.gimbal.cmd.delta_yaw = -ctx->input.rc.joy_left.x * 4.0f;
-  ctx->output.gimbal.cmd.delta_pit = -ctx->input.rc.joy_left.y * 2.5f;
+  ctx->output.gimbal.cmd.delta_yaw = -ctx->input.rc.joy_right.x * 5.0f;
+  ctx->output.gimbal.cmd.delta_pit = ctx->input.rc.joy_right.y * 5.0f;
 }
 #endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL */
 
@@ -68,7 +68,7 @@ static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
 #if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT
 static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
   if (ctx->input.online[CMD_SRC_RC]) {
-      ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
+      ctx->output.shoot.cmd.mode = SHOOT_MODE_BURST;
   } else {
       ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
   }
@@ -393,12 +393,13 @@ static void CMD_PC_BuildBalanceChassisCmd(CMD_t *ctx) {
   float vx = 0.0f, wz = 0.0f;
   uint32_t kb = ctx->input.pc.keyboard.bitmap;
 
-  if (kb & CMD_KEY_W) vx += sens->move_sens;
-  if (kb & CMD_KEY_S) vx -= sens->move_sens;
-  if (kb & CMD_KEY_A) wz += sens->move_sens;
-  if (kb & CMD_KEY_D) wz -= sens->move_sens;
-  if (kb & CMD_KEY_SHIFT) { vx *= sens->move_fast_mult; wz *= sens->move_fast_mult; }
-  if (kb & CMD_KEY_CTRL)  { vx *= sens->move_slow_mult; wz *= sens->move_slow_mult; }
+  //案件的命令要放到behavior里，
+  // if (kb & CMD_KEY_W) vx += sens->move_sens;
+  // if (kb & CMD_KEY_S) vx -= sens->move_sens;
+  // if (kb & CMD_KEY_A) wz += sens->move_sens;
+  // if (kb & CMD_KEY_D) wz -= sens->move_sens;
+  // if (kb & CMD_KEY_SHIFT) { vx *= sens->move_fast_mult; wz *= sens->move_fast_mult; }
+  // if (kb & CMD_KEY_CTRL)  { vx *= sens->move_slow_mult; wz *= sens->move_slow_mult; }
 
   ctx->output.balance_chassis.cmd.move_vec.vx = vx;
   ctx->output.balance_chassis.cmd.move_vec.wz = wz;
diff --git a/User/module/config.c b/User/module/config.c
index 0ee13be..35e95c3 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -110,19 +110,19 @@ Config_RobotParam_t robot_config = {
           .projectileType=SHOOT_PROJECTILE_17MM,
 		      .fric_num=2,
 		      .extra_deceleration_ratio=1.0f,
-          .num_trig_tooth=5,
+          .num_trig_tooth=8,
           .shot_freq=1.0f,
           .shot_burst_num=3,
           .ratio_multilevel = {1.0f},
         },   
         .jamDetection={
             .enable=true,
-            .threshold=310.0f, 
+            .threshold=200.0f, 
             .suspectedTime=0.5f, 
         },
         .heatControl={
             .enable=true,
-            .nmax=2.0f,      // 最大射频 Hz
+            .nmax=18.0f,      // 最大射频 Hz
             .Hwarn=200.0f,    // 热量预警值
             .Hsatu=100.0f,    // 热量饱和值
             .Hthres=50.0f,    // 热量阈值
@@ -151,10 +151,10 @@ Config_RobotParam_t robot_config = {
             }
             },
             .trig = {
-                .can = BSP_FDCAN_2,
-                .id = 0x205,
-                .module = MOTOR_M3508,
-                .reverse = false,
+                .can = BSP_CAN_1,
+                .id = 0x203,
+                .module = MOTOR_M2006,
+                .reverse = true,
                 .gear=true,
             },
         },
@@ -180,12 +180,12 @@ Config_RobotParam_t robot_config = {
                 .range=-1.0f, 
             },
             .trig_2006 = {
-                .k=2.5f,
+                .k=1.0f,
                 .p=1.0f,
                 .i=0.1f,
-                .d=0.04f,
-                .i_limit=0.4f,
-                .out_limit=1.0f,
+                .d=0.05f,
+                .i_limit=0.8f,
+                .out_limit=0.5f,
                 .d_cutoff_freq=-1.0f,
                 .range=M_2PI,
             },
@@ -195,7 +195,7 @@ Config_RobotParam_t robot_config = {
                 .i=0.3f,
                 .d=0.5f,
                 .i_limit=0.2f,
-                .out_limit=1.0f,
+                .out_limit=0.9f,
                 .d_cutoff_freq=-1.0f,
                 .range=-1.0f,
             },
diff --git a/User/module/shoot.c b/User/module/shoot.c
index f03bc53..1774165 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -46,7 +46,6 @@ void Task(void *argument) {
 /* 发射检测参数 */
 #define SHOT_DETECT_RPM_DROP_THRESHOLD 100.0f  /* 摩擦轮转速下降阈值，单位rpm */
 #define SHOT_DETECT_SUSPECTED_TIME 0.0005f      /* 发射嫌疑持续时间阈值，单位秒 */
-#define FRIC_READY_RPM_RATIO 0.95f             /* 摩擦轮准备好的转速比例 */
 
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
@@ -236,40 +235,6 @@ static float Shoot_CalcAvgFricRpm(Shoot_t *s)
     return (fric_num > 0) ? (sum / fric_num) : 0.0f;
 }
 
-/**
- * \brief 发射检测：通过摩擦轮掉速检测发射
- *
- * \param s 包含发射数据的结构体
- *
- * \return 是否检测到掉速超过阈值
- */
-static bool Shoot_DetectShotByRpmDrop(Shoot_t *s)
-{
-    if (s == NULL) {
-        return false;
-    }
-    
-    /* 只在READY和FIRE状态下检测，避免停机时误判 */
-    if (s->running_state != SHOOT_STATE_READY && 
-        s->running_state != SHOOT_STATE_FIRE) {
-        return false;
-    }
-    
-    /* 计算当前摩擦轮平均转速 */
-    s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
-    
-    /* 计算当前转速与目标转速的差值（掉速量） */
-    s->heatcontrol.rpmDrop = s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm;
-    
-    /* 判断是否发生明显掉速 */
-    if (s->heatcontrol.rpmDrop > SHOT_DETECT_RPM_DROP_THRESHOLD) {
-        return true;
-    }
-    
-    return false;
-}
-
-
 /**
  * \brief 热量数据融合：用裁判系统数据修正自主估计
  *
@@ -353,18 +318,29 @@ static int8_t Shoot_HeatDetectionFSM(Shoot_t *s)
                 /* 计算当前平均转速 */
                 s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
                 
-                /* 检查摩擦轮是否达到目标转速的85%以上 */
-                if (s->heatcontrol.avgFricRpm >= s->target_variable.fric_rpm * FRIC_READY_RPM_RATIO) {
+                /* 检查摩擦轮是否初步达到设定速度 */
+                if (s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm < SHOT_DETECT_RPM_DROP_THRESHOLD * 0.8f) {
                     s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY;
-                    s->heatcontrol.lastAvgFricRpm = s->heatcontrol.avgFricRpm;
+                    s->heatcontrol.baselineRpm = s->heatcontrol.avgFricRpm; // 记录初始基准转速
                 }
             }
             break;
             
         case SHOOT_HEAT_DETECT_READY:
-            /* 准备检测状态：监测摩擦轮掉速 */
-            /* 检测掉速（当前转速低于目标转速超过阈值） */
-            if (Shoot_DetectShotByRpmDrop(s)) {
+            /* 准备检测状态：监测摩擦轮相对当前的基准发生掉速 */
+            s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
+            
+            /* 动态更新平稳时的基准转速：若当前转速比基准高，迅速成为新基准；若更低，基准非常缓慢地衰减，以适应正常波动 */
+            if (s->heatcontrol.avgFricRpm > s->heatcontrol.baselineRpm) {
+                s->heatcontrol.baselineRpm = s->heatcontrol.avgFricRpm;
+            } else {
+                s->heatcontrol.baselineRpm = s->heatcontrol.baselineRpm * 0.999f + s->heatcontrol.avgFricRpm * 0.001f;
+            }
+            
+            s->heatcontrol.rpmDrop = s->heatcontrol.baselineRpm - s->heatcontrol.avgFricRpm;
+            
+            /* 检测掉速（当前转速低于动态基准超过阈值） */
+            if (s->heatcontrol.rpmDrop > SHOT_DETECT_RPM_DROP_THRESHOLD) {
                 s->heatcontrol.detectState = SHOOT_HEAT_DETECT_SUSPECTED;
                 s->heatcontrol.detectTime = s->timer.now; /* 记录进入嫌疑状态的时间 */
             }
@@ -377,45 +353,47 @@ static int8_t Shoot_HeatDetectionFSM(Shoot_t *s)
             
         case SHOOT_HEAT_DETECT_SUSPECTED:
             /* 发射嫌疑状态：持续检测掉速 */
-            /* 更新掉速量 */
             s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
-            s->heatcontrol.rpmDrop = s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm;
+            s->heatcontrol.rpmDrop = s->heatcontrol.baselineRpm - s->heatcontrol.avgFricRpm;
             
-            /* 若掉速消失（转速恢复正常），回到准备状态 */
-            if (s->heatcontrol.rpmDrop < SHOT_DETECT_RPM_DROP_THRESHOLD) {
+            /* 若掉速消失（转速刚掉下又马上弹回基准附近），回到准备状态 (阈值的 60%) */
+            if (s->heatcontrol.rpmDrop < SHOT_DETECT_RPM_DROP_THRESHOLD * 0.6f) {
                 s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY;
             }
-            /* 若嫌疑状态持续超过阈值时间，确认发射 */
+            /* 若掉速状态持续超过设定的嫌疑时间，确认这是一次发射 */
             else if ((s->timer.now - s->heatcontrol.detectTime) >= SHOT_DETECT_SUSPECTED_TIME) {
                 s->heatcontrol.detectState = SHOOT_HEAT_DETECT_CONFIRMED;
             }
             break;
             
         case SHOOT_HEAT_DETECT_CONFIRMED:
-            /* 确认发射状态：增加热量并返回准备状态 */
-            /* 根据弹丸类型增加估计热量 */
-            switch (s->param->basic.projectileType) {
-                case SHOOT_PROJECTILE_17MM:
-                    s->heatcontrol.Hnow_estimated += 10.0f;
-                    break;
-                case SHOOT_PROJECTILE_42MM:
-                    s->heatcontrol.Hnow_estimated += 100.0f;
-                    break;
-                default:
-                    s->heatcontrol.Hnow_estimated += s->heatcontrol.Hgen;
-                    break;
+            if (s->heatcontrol.unverified_shots > 0) {
+                s->heatcontrol.unverified_shots--;
+            }
+            s->heatcontrol.detectState = SHOOT_HEAT_DETECT_RECOVERING;
+            s->heatcontrol.valleyRpm = s->heatcontrol.avgFricRpm; /* 记录进入此时的转速为谷底初值 */
+            break;
+            
+        case SHOOT_HEAT_DETECT_RECOVERING:
+            
+            s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
+            
+            if (s->heatcontrol.avgFricRpm < s->heatcontrol.valleyRpm) {
+                s->heatcontrol.valleyRpm = s->heatcontrol.avgFricRpm;
             }
             
-            /* 限制估计热量不超过最大值 */
-            if (s->heatcontrol.Hnow_estimated > s->heatcontrol.Hmax) {
-                s->heatcontrol.Hnow_estimated = s->heatcontrol.Hmax;
+            if ((s->heatcontrol.avgFricRpm - s->heatcontrol.valleyRpm > 30.0f) || 
+                (s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm < SHOT_DETECT_RPM_DROP_THRESHOLD * 0.8f)) {
+                
+                s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY;
+
+                s->heatcontrol.baselineRpm = s->heatcontrol.avgFricRpm;
             }
             
-            /* 增加发射计数 */
-            s->heatcontrol.shots_detected++;
-            
-            /* 返回准备检测状态 */
-            s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY;
+            /* 如果摩擦轮停止 */
+            if (s->running_state == SHOOT_STATE_IDLE) {
+                s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE;
+            }
             break;
             
         default:
@@ -423,7 +401,7 @@ static int8_t Shoot_HeatDetectionFSM(Shoot_t *s)
             break;
     }
     
-    /* 善后工作：热量冷却（每个周期都执行） */
+    /* 热量冷却*/
     if (s->heatcontrol.Hnow_estimated > 0.0f && s->heatcontrol.Hcd > 0.0f) {
         s->heatcontrol.Hnow_estimated -= s->heatcontrol.Hcd * s->timer.dt;
         if (s->heatcontrol.Hnow_estimated < 0.0f) {
@@ -431,6 +409,36 @@ static int8_t Shoot_HeatDetectionFSM(Shoot_t *s)
         }
     }
     
+    /* 空弹链检测与修正：拨盘触发后超过0.4秒内仍未有对应的摩擦轮掉速确认 */
+    if (s->heatcontrol.unverified_shots > 0 && (s->timer.now - s->var_trig.time_lastShoot) > 0.4f) {
+        /* 这些弹丸确定未射出（空发） */
+        float refund_heat = 0.0f;
+        switch (s->param->basic.projectileType) {
+            case SHOOT_PROJECTILE_17MM: refund_heat = 10.0f; break;
+            case SHOOT_PROJECTILE_42MM: refund_heat = 100.0f; break;
+            default: refund_heat = s->heatcontrol.Hgen; break;
+        }
+        refund_heat *= s->heatcontrol.unverified_shots;
+        
+        s->heatcontrol.Hnow_estimated -= refund_heat;
+        if (s->heatcontrol.Hnow_estimated < 0.0f) {
+            s->heatcontrol.Hnow_estimated = 0.0f;
+        }
+        
+        if (s->var_trig.num_shooted >= s->heatcontrol.unverified_shots) {
+            s->var_trig.num_shooted -= s->heatcontrol.unverified_shots;
+        } else {
+            s->var_trig.num_shooted = 0;
+        }
+        
+        if (s->heatcontrol.shots_detected >= s->heatcontrol.unverified_shots) {
+            s->heatcontrol.shots_detected -= s->heatcontrol.unverified_shots;
+        } else {
+            s->heatcontrol.shots_detected = 0;
+        }
+        
+        s->heatcontrol.unverified_shots = 0;
+    }
     /* 数据融合 */
     Shoot_FuseHeatData(s);
     
@@ -500,18 +508,22 @@ static float Shoot_CaluFreqByHeat(Shoot_t *s)
  */
 int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
 {
-    if (s == NULL  || s->var_trig.num_toShoot == 0) {
+    if (s == NULL) {
         return SHOOT_ERR_NULL; 
     }
     
     /* 更新热量控制数据 */
     Shoot_UpdateHeatControl(s);
     
+    if (s->var_trig.num_toShoot == 0) {
+        return SHOOT_OK; /* 即使没有弹丸待发，热量更新照常执行 */
+    }
+    
     /* 根据热量控制计算实际射频 */
     float actual_freq = Shoot_CaluFreqByHeat(s);
     
     float dt = s->timer.now - s->var_trig.time_lastShoot;
-	float dpos;
+	  float dpos;
     dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI);
     
     /* 使用热量控制计算出的射频，而不是配置的固定射频 */
@@ -519,7 +531,24 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
     {
         s->var_trig.time_lastShoot=s->timer.now;
         CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI);
-		s->var_trig.num_toShoot--;
+        s->var_trig.num_toShoot--;
+        s->var_trig.num_shooted++;
+        
+        /* 预测性发射：拨盘拨动即认为弹丸会射出，立即增加热量与发射计数 */
+        float add_heat = 0.0f;
+        switch (s->param->basic.projectileType) {
+            case SHOOT_PROJECTILE_17MM: add_heat = 10.0f; break;
+            case SHOOT_PROJECTILE_42MM: add_heat = 100.0f; break;
+            default: add_heat = s->heatcontrol.Hgen; break;
+        }
+        s->heatcontrol.Hnow_estimated += add_heat;
+        if (s->heatcontrol.Hnow_estimated > s->heatcontrol.Hmax) {
+            s->heatcontrol.Hnow_estimated = s->heatcontrol.Hmax;
+        }
+        s->heatcontrol.shots_detected++;
+        
+        /* 增加等待摩擦轮掉速确认的弹丸数 */
+        s->heatcontrol.unverified_shots++;
     }
     return SHOOT_OK;
 }
@@ -623,16 +652,17 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
         return SHOOT_ERR_NULL; // 参数错误
     }
     uint8_t fric_num = s->param->basic.fric_num;
-    static float pos;
+    
     if(s->mode==SHOOT_MODE_SAFE){
       for(int i=0;i<fric_num;i++)
       {	
           MOTOR_RM_Relax(&s->param->motor.fric[i].param);
       }
-      MOTOR_RM_Relax(&s->param->motor.trig);\
-      pos=s->target_variable.trig_angle=s->var_trig.trig_agl;
+      MOTOR_RM_Relax(&s->param->motor.trig);
+      s->target_variable.trig_angle=s->var_trig.trig_agl;
     }
     else{
+        Shoot_CaluTargetAngle(s, cmd);
         switch(s->running_state)
         {
             case SHOOT_STATE_IDLE:/*熄火等待*/
@@ -645,7 +675,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                     MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]);
                 }
                 
-                s->output.outagl_trig   =PID_Calc(&s->pid.trig,pos,s->var_trig.trig_agl,0,s->timer.dt);
+                s->output.outagl_trig   =PID_Calc(&s->pid.trig,s->target_variable.trig_angle,s->var_trig.trig_agl,0,s->timer.dt);
                 s->output.outomg_trig  	=PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->var_trig.trig_rpm,0,s->timer.dt);
                 s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
                 MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig);
@@ -689,7 +719,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 					}
                 /* 设置拨弹电机输出 */
                 s->output.outagl_trig   =PID_Calc(&s->pid.trig,
-													pos,
+													s->target_variable.trig_angle,
 													s->var_trig.trig_agl,
 													0,
 													s->timer.dt);
@@ -731,7 +761,6 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                 break;
 
             case SHOOT_STATE_FIRE:/*射击*/
-				Shoot_CaluTargetAngle(s, cmd);
                 for(int i=0;i<fric_num;i++)
                 {	
 					uint8_t level=s->param->motor.fric[i].level-1;
@@ -776,7 +805,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                 if(!cmd->firecmd)
                     {
                       s->running_state=SHOOT_STATE_READY;
-						          pos=s->var_trig.trig_agl;
+					  s->target_variable.trig_angle=s->var_trig.trig_agl;
                       s->var_trig.num_toShoot=0;
                     }
                 break;
diff --git a/User/module/shoot.h b/User/module/shoot.h
index 59e42e4..cd50342 100644
--- a/User/module/shoot.h
+++ b/User/module/shoot.h
@@ -35,7 +35,8 @@ typedef enum {
     SHOOT_HEAT_DETECT_IDLE = 0,      /* 停机状态 */
     SHOOT_HEAT_DETECT_READY,         /* 准备检测状态 */
     SHOOT_HEAT_DETECT_SUSPECTED,     /* 发射嫌疑状态 */
-    SHOOT_HEAT_DETECT_CONFIRMED      /* 确认发射状态 */
+    SHOOT_HEAT_DETECT_CONFIRMED,      /* 确认发射状态 */
+    SHOOT_HEAT_DETECT_RECOVERING     /* 发射恢复状态 */
 }Shoot_HeatDetectionFSM_State_t;
 typedef enum {
     SHOOT_STATE_IDLE = 0,/* 熄火 */
@@ -114,7 +115,8 @@ typedef struct {
   Shoot_HeatDetectionFSM_State_t detectState; // 检测状态
   float detectTime;        // 检测计时器
   float avgFricRpm;        // 摩擦轮平均转速
-  float lastAvgFricRpm;    // 上次摩擦轮平均转速
+  float baselineRpm;       // 动态基准转速，用于连发掉速检测的参照
+  float valleyRpm;         // 掉速谷底转速，用于判断掉速回升
   float rpmDrop;           // 转速下降量
   bool shotDetected;       // 检测到发射标志
   
@@ -123,6 +125,7 @@ typedef struct {
   float Hnow_fused;        // 融合后的热量值
   uint16_t shots_detected; // 检测到的发射数
   uint16_t shots_available;// 当前热量可发射弹数
+  uint16_t unverified_shots; // 已经拨弹但等待摩擦轮掉速确认的弹丸数
 }Shoot_HeatControl_t;
 
 typedef struct {