diff --git a/User/device/virtual_chassis.c b/User/device/virtual_chassis.c
index 496c8cc..9269a46 100644
--- a/User/device/virtual_chassis.c
+++ b/User/device/virtual_chassis.c
@@ -56,8 +56,8 @@ static int8_t Virtual_Chassis_DecodeMotor(Virtual_Chassis_t *chassis, uint8_t id
     return DEVICE_OK;
 }
 
-static int8_t Virtual_Chassis_DecodeIMU(Virtual_Chassis_t *chassis, uint8_t id, uint8_t *data, uint8_t len) {
-    if (chassis == NULL || data == NULL || len < 8) {
+static int8_t Virtual_Chassis_DecodeIMU(Virtual_Chassis_t *chassis, uint8_t id, uint8_t *data) {
+    if (chassis == NULL || data == NULL) {
         return DEVICE_ERR_NULL;
     }
 
@@ -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 + 1, 3);
+        BSP_CAN_RegisterId(chassis->param.imu.can, 0x66 + i, 3);
     }
     
     // 设置设备在线状态
@@ -158,14 +158,23 @@ int8_t Virtual_Chassis_Update(Virtual_Chassis_t *chassis) {
     BSP_CAN_Message_t msg;
 
     for (int i = 0; i < 4; i++){
-        BSP_CAN_GetMessage(chassis->param.motors.can, 124 + i, &msg, BSP_CAN_TIMEOUT_IMMEDIATE);
-        Virtual_Chassis_DecodeMotor(chassis, msg.parsed_id, msg.data);
+        if(BSP_CAN_GetMessage(chassis->param.imu.can, 0x66 + i, &msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK){
+            continue;
+        } else {
+            Virtual_Chassis_DecodeIMU(chassis, 0x66 + i, msg.data);
+        }
     }
 
     for (int i = 0; i < 4; i++){
-        BSP_CAN_GetMessage(chassis->param.imu.can, 0x66 + i, &msg, BSP_CAN_TIMEOUT_IMMEDIATE);
-        Virtual_Chassis_DecodeIMU(chassis, 0x66 + i, msg.data, msg.dlc);
+        if (BSP_CAN_GetMessage(chassis->param.motors.can, 124 + i, &msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK){
+            continue;
+        } else {
+            // 解析电机反馈数据
+            Virtual_Chassis_DecodeMotor(chassis, 124 + i, msg.data);
+        }
     }
+
+
     
     return DEVICE_OK;
 }