diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c
index 3d13cf6..472bb43 100644
--- a/User/module/cmd/cmd.c
+++ b/User/module/cmd/cmd.c
@@ -3,6 +3,7 @@
  */
 #include "cmd.h"
 #include "bsp/time.h"
+#include "module/shoot.h"
 #include <stdint.h>
 #include <string.h>
 
@@ -68,7 +69,7 @@ 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_BURST;
+      ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
   } else {
       ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
   }
diff --git a/User/module/config.c b/User/module/config.c
index b16f7ed..f6f151c 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -140,7 +140,7 @@ Config_RobotParam_t robot_config = {
           .fric_num=2,
           .extra_deceleration_ratio=1.0f,
           .num_trig_tooth=8,
-          .shot_freq=1.0f,
+          .shot_freq=18.0f,
           .shot_burst_num=3,
           .ratio_multilevel = {1.0f},
         },   
diff --git a/User/module/shoot.c b/User/module/shoot.c
index 6470efd..2896b7c 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -519,10 +519,11 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
 
     float dt = s->timer.now - s->var_trig.time_lastShoot;
 	float dpos;
+    float dpos_abs;
     dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI);
-    
+    dpos_abs = fabs(dpos);
     /* 使用热量控制计算出的射频，而不是配置的固定射频 */
-    if(actual_freq > 0.0f && dt >= 1.0f/actual_freq && cmd->firecmd && dpos<=1.0f)
+    if(actual_freq > 0.0f && dt >= 1.0f/actual_freq && cmd->firecmd && dpos_abs<=1.0f)
     {
         s->var_trig.time_lastShoot=s->timer.now;
         CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI);
@@ -720,6 +721,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                 else if(last_firecmd==false&&cmd->firecmd==true)
                     {
                         s->running_state=SHOOT_STATE_FIRE;
+                        s->target_variable.trig_angle=s->var_trig.trig_agl;
                         /* 根据模式设置待发射弹数 */
                         switch(s->mode)
                         {
@@ -786,6 +788,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                     {
                       s->running_state=SHOOT_STATE_READY;
 						          pos=s->var_trig.trig_agl;
+                                  s->target_variable.trig_angle=pos;
                       s->var_trig.num_toShoot=0;
                     }
                 break;
@@ -796,12 +799,12 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
         }
     }
     /* 输出 */
-	// MOTOR_RM_Ctrl(&s->param->motor.fric[0].param);
-    // if(s->param->basic.fric_num>4)
-    // {
-        // MOTOR_RM_Ctrl(&s->param->motor.fric[4].param);
-    // }
-    // MOTOR_RM_Ctrl(&s->param->motor.trig);
+	MOTOR_RM_Ctrl(&s->param->motor.fric[0].param);
+    if(s->param->basic.fric_num>4)
+    {
+        MOTOR_RM_Ctrl(&s->param->motor.fric[4].param);
+    }
+    MOTOR_RM_Ctrl(&s->param->motor.trig);
     last_firecmd = cmd->firecmd;
     return SHOOT_OK;
 }
@@ -849,7 +852,8 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                 /* 清空待发射弹 */
                 s->var_trig.num_toShoot=0;
                 /* 修改拨弹盘目标角度 */
-                s->target_variable.trig_angle = s->var_trig.trig_agl-(M_2PI/s->param->basic.num_trig_tooth);
+                s->target_variable.trig_angle = s->var_trig.trig_agl;
+                CircleAdd((&s->target_variable.trig_angle), -(M_2PI/s->param->basic.num_trig_tooth), M_2PI)
                 /* 切换状态 */
                 s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_DEAL;
                 /* 记录处理开始时间 */