diff --git a/User/task/atti_esti.c b/User/task/atti_esti.c
index 2c1f583..71edf46 100644
--- a/User/task/atti_esti.c
+++ b/User/task/atti_esti.c
@@ -34,7 +34,7 @@ BMI088_Cali_t cali_bmi088= {
 };
 
 static const KPID_Params_t imu_temp_ctrl_pid_param = {
-    .k = 0.2f,
+    .k = 0.3f,
     .p = 1.0f,
     .i = 0.01f,
     .d = 0.0f,
@@ -160,10 +160,10 @@ void Task_atti_esti(void *argument) {
     gyro_modified.y = -bmi088.gyro.x;
     gyro_modified.z = bmi088.gyro.z;
     
-    /* 欧拉角数据：roll和pitch互换 */
+    /* 欧拉角数据：y取负值 */
     eulr_modified.yaw = eulr_to_send.yaw;
-    eulr_modified.pit = eulr_to_send.rol;  /* pitch = 原roll */
-    eulr_modified.rol = eulr_to_send.pit;  /* roll = 原pitch */
+    eulr_modified.pit = -eulr_to_send.pit;
+    eulr_modified.rol =  eulr_to_send.rol;
 
     osMessageQueueReset(task_runtime.msgq.imu.accl);
     osMessageQueueReset(task_runtime.msgq.imu.gyro);
@@ -174,7 +174,7 @@ void Task_atti_esti(void *argument) {
     osMessageQueuePut(task_runtime.msgq.imu.eulr, &eulr_modified, 0, 0);
     osMessageQueuePut(task_runtime.msgq.imu.quat, &gimbal_ahrs.quat, 0, 0);
 
-    BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 50.0f, bmi088.temp, 0.0f, 0.0f));
+    BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.0f));
 
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */