diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c
index f1af954..3d13cf6 100644
--- a/User/module/cmd/cmd.c
+++ b/User/module/cmd/cmd.c
@@ -208,16 +208,16 @@ static void CMD_NUC_BuildGimbalCmd(CMD_t *ctx) {
   
   /* 使用AI提供的云台控制数据 */
   
-  if (ctx->input.nuc.mode!=0) {
+  // if (ctx->input.nuc.mode!=0) {
   ctx->output.gimbal.cmd.mode = GIMBAL_MODE_AI_CONTROL;
-  ctx->output.gimbal.cmd.ai_mode = ctx->input.nuc.mode;
+  ctx->output.gimbal.cmd.mode_ai = (uint8_t)ctx->input.nuc.mode; /* 直接使用AI模式细分字段 */
   ctx->output.gimbal.cmd.setpoint_yaw = ctx->input.nuc.gimbal.setpoint.yaw;
   ctx->output.gimbal.cmd.setpoint_pit = ctx->input.nuc.gimbal.setpoint.pit;
   ctx->output.gimbal.cmd.ff_vel_yaw = ctx->input.nuc.gimbal.vel.yaw;
   ctx->output.gimbal.cmd.ff_vel_pit = ctx->input.nuc.gimbal.vel.pit;
   ctx->output.gimbal.cmd.ff_accl_yaw = ctx->input.nuc.gimbal.accl.yaw;
   ctx->output.gimbal.cmd.ff_accl_pit = ctx->input.nuc.gimbal.accl.pit;
-  }
+  // }
 
 }
 #endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL */
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index f81688f..e2ddddf 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -193,6 +193,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd, Gimbal_AI_t *g_ai) {
   g->dt = (BSP_TIME_Get_us() - g->lask_wakeup) / 1000000.0f;
   g->lask_wakeup = BSP_TIME_Get_us();
 
+  /* AI自瞄保护：mode_ai==0 丢失目标，保持AI模式但锁定当前姿态 */
   Gimbal_SetMode(g, g_cmd->mode);
 
   /* 处理yaw控制命令，软件限位 */
@@ -215,18 +216,10 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd, Gimbal_AI_t *g_ai) {
   }
   CircleAdd(&(g->setpoint.eulr.pit), delta_pit, M_2PI);
    
-  if (g_cmd->mode == GIMBAL_MODE_AI_CONTROL) {
-    if (g_cmd->setpoint_yaw == 0.0f && g_cmd->setpoint_pit == 0.0f) {
-      /* 自瞄丢失：切回ABSOLUTE，setpoint锁定当前IMU角度，停在原位 */
-      g_cmd->mode = GIMBAL_MODE_ABSOLUTE;
-      g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
-      g->setpoint.eulr.pit = g->feedback.imu.eulr.rol;
-      Gimbal_SetMode(g, GIMBAL_MODE_ABSOLUTE);
-    } else {
-      /* AI 模式：直接从指令获取角度设定值（每周期刷新） */
-      g->setpoint.eulr.yaw = g_cmd->setpoint_yaw;
-      g->setpoint.eulr.pit = g_cmd->setpoint_pit;
-    }
+  if (g_cmd->mode == GIMBAL_MODE_AI_CONTROL && g_cmd->mode_ai != 0) {
+    /* AI 模式且有目标(mode_ai==1/2)：跟踪，用AI下发的setpoint */
+    g->setpoint.eulr.yaw = g_cmd->setpoint_yaw;
+    g->setpoint.eulr.pit = g_cmd->setpoint_pit;
   } else if (g_cmd->mode == GIMBAL_MODE_RECOVER) {
     /* 双零点选近：mech_zero 和 mech_zero+π，选离当前编码器角度最近的 */
     float yaw_enc = g->feedback.motor.yaw.rotor_abs_angle;
@@ -260,22 +253,36 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd, Gimbal_AI_t *g_ai) {
 
     break;
   case GIMBAL_MODE_AI_CONTROL:
-    /* --- YAW --- */
-    yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
-                                   g->feedback.imu.eulr.yaw, 0.0f, g->dt);
-    yaw_omega_set_point += g_cmd->ff_vel_yaw;  /* 速度前馈叠加到角速度设定值 */
-    g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
-                          g->feedback.imu.gyro.z, 0.f, g->dt);
-    g->out.yaw += g_cmd->ff_accl_yaw * GIMBAL_YAW_INERTIA;  /* 加速度前馈叠加到力矩输出 */
+    if (g_cmd->mode_ai == 0) {
+      /* 丢失目标：setpoint保持不变，用普通PID锁住当前姿态，无前馈 */
+      yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
+                                     g->feedback.imu.eulr.yaw, 0.0f, g->dt);
+      g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
+                            g->feedback.imu.gyro.z, 0.f, g->dt);
 
-    /* --- PIT --- */
-    pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), -g->setpoint.eulr.pit,
-                                   g->feedback.imu.eulr.rol, 0.0f, g->dt);
-    pit_omega_set_point -= g_cmd->ff_vel_pit;  /* 速度前馈 */
-    g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
-                          g->feedback.imu.gyro.y, 0.f, g->dt);
-    g->out.pit -= g_cmd->ff_accl_pit * GIMBAL_PIT_INERTIA;  /* 加速度前馈 */
-      break;
+      pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
+                                      g->feedback.imu.eulr.rol, 0.0f, g->dt);
+      g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
+                            g->feedback.imu.gyro.y, 0.f, g->dt);
+    } else {
+      /* mode_ai==1/2：跟踪目标，带前馈 */
+      /* --- YAW --- */
+      yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
+                                     g->feedback.imu.eulr.yaw, 0.0f, g->dt);
+      yaw_omega_set_point += g_cmd->ff_vel_yaw;
+      g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
+                            g->feedback.imu.gyro.z, 0.f, g->dt);
+      g->out.yaw += g_cmd->ff_accl_yaw * GIMBAL_YAW_INERTIA;
+
+      /* --- PIT --- */
+      pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), -g->setpoint.eulr.pit,
+                                     g->feedback.imu.eulr.rol, 0.0f, g->dt);
+      pit_omega_set_point -= g_cmd->ff_vel_pit;
+      g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
+                            g->feedback.imu.gyro.y, 0.f, g->dt);
+      g->out.pit -= g_cmd->ff_accl_pit * GIMBAL_PIT_INERTIA;
+    }
+    break;
   case GIMBAL_MODE_RECOVER:
     g->out.yaw = PID_Calc(&(g->pid.recover.yaw_angle), g->setpoint.eulr.yaw,
                           g->feedback.motor.yaw.rotor_abs_angle, 0.0f, g->dt);
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index abf7a61..b111c7f 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -41,7 +41,7 @@ typedef struct {
 
 typedef struct {
   Gimbal_Mode_t mode;
-  Gimbal_Mode_t ai_mode; /* AI控制模式下的子模式，用于区分不同的AI控制策略 */
+  uint8_t mode_ai; /* AI模式细分，0表示不控制，1表示控制云台但不开火，2表示控制云台且开火 */
   float delta_yaw;
   float delta_pit;
     /* GIMBAL_MODE_AI_CONTROL 速度/加速度前馈（来自 NUC） */