diff --git a/User/task/gimbal.c b/User/task/gimbal.c
index 1375cfa..ac74b3e 100644
--- a/User/task/gimbal.c
+++ b/User/task/gimbal.c
@@ -22,7 +22,7 @@ Gimbal_t gimbal;
 AI_result_t ai_gimbal_result_cmd; /*ai发送自瞄数据和 导航数据*/
 
 Gimbal_CMD_t final_gimbal_cmd; //最终命令
-
+Gimbal_RefereeUI_t gimbal_ui;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -46,8 +46,7 @@ void Task_gimbal(void *argument) {
     /* USER CODE BEGIN */
     osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu,NULL, 0);
     Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
-
-osMessageQueueGet(task_runtime.msgq.gimbal.ai.g_cmd,&ai_gimbal_result_cmd,NULL, 0);
+    osMessageQueueGet(task_runtime.msgq.gimbal.ai.g_cmd,&ai_gimbal_result_cmd,NULL, 0);
     /* ai指令 */
     // if(osMessageQueueGet(task_runtime.msgq.gimbal.ai.g_cmd, &ai_gimbal_result_cmd, NULL, 0)==osOK){
     //  if(ai_gimbal_result_cmd.mode==0){
@@ -59,16 +58,13 @@ osMessageQueueGet(task_runtime.msgq.gimbal.ai.g_cmd,&ai_gimbal_result_cmd,NULL,
     //   final_gimbal_cmd.set_yaw=ai_gimbal_cmd.gimbal_t.setpoint.yaw;
     //  }   
     // }       
-
-
-
 osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &cmd_gimbal, NULL, 0);
 
 if (cmd_gimbal.ctrl_mode == GIMBAL_MODE_AI) {
       if (ai_gimbal_result_cmd.mode == 0) {
         /* AI无目标 */
         cmd_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
-        if (cmd_gimbal.scan_enable==) {
+        if (ai_gimbal_result_cmd.reserved ) {
           cmd_gimbal.ctrl_mode = GIMBAL_MODE_SCAN; /* 有扫描：回退到扫描模式 */
         } else {
           cmd_gimbal.ctrl_mode = GIMBAL_MODE_REMOTE; /* 无扫描：保持当前姿态不动 */
@@ -87,6 +83,8 @@ if (cmd_gimbal.ctrl_mode == GIMBAL_MODE_AI) {
     }
 
 Gimbal_UpdateFeedback(&gimbal);
+Gimbal_DumpUI(&gimbal,&gimbal_ui);
+
 
 osMessageQueueReset(task_runtime.msgq.gimbal.yaw4310);
 /* 底盘跟随统一使用大YAW反馈，避免跟随锁到小YAW */