diff --git a/User/module/chassis.c b/User/module/chassis.c
index 14c6f38..809c317 100644
--- a/User/module/chassis.c
+++ b/User/module/chassis.c
@@ -73,7 +73,7 @@ static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode ,uint32_t now)
 
  if (mode == CHASSIS_MODE_ROTOR && c->mode != CHASSIS_MODE_ROTOR) {
     srand(now);
-    c->wz_multi =0.1;
+    c->wz_multi =0.25f;
     // c->wz_multi = (rand() % 2) ? -1 : 1;
   }
   for (int i = 0; i < 4; i++)
@@ -403,20 +403,14 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
 
     case CHASSIS_MODE_FOLLOW_GIMBAL:
     // 跟随云台模式
-    c->move_vec.Vx =-c_cmd->y_l;
-    c->move_vec.Vy =-c_cmd->x_l;
+    c->move_vec.Vx =-c_cmd->Vy;
+    c->move_vec.Vy =-c_cmd->Vx;
     c->move_vec.Vw = PID_Calc(&c->pid.chassis_follow_gimbal_pid, 4.51735544f ,c->motorfeedback.gimbal_yaw_encoder.rotor_abs_angle, 0.0f, c->dt);
 
     // c->move_vec.Vw = -PID_Calc(&c->pid.chassis_follow_gimbal_pid, c->motorfeedback.gimbal_yaw_encoder-2.07694483f ,c->motorfeedback.gimbal_yaw_encoder, 0.0f, c->dt);
     break;
 
-    /* 临时调控导航*/
-    if(c->ctrl_mode == CHASSIS_MODE_DAOHANG)
-    {
-      c->move_vec.Vx = -c_cmd->Vx/1;
-      c->move_vec.Vy = c_cmd->Vy/1;
-      c->move_vec.Vw =PID_Calc(&c->pid.daohang_chassis_follow_gimbal_pid, 4.51735544f ,c->motorfeedback.gimbal_yaw_encoder.rotor_abs_angle, 0.0f, c->dt);
-    }
+
 // case CHASSIS_MODE_DAOHANG:
 //     // 导航模式
 //     c->move_vec.Vx = -c_cmd->Vx/1;
@@ -427,22 +421,28 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
   default:
     return CHASSIS_ERR_MODE; /* 未知模式 */
   }
-
+    /* 临时调控导航*/
+    if(c->ctrl_mode == CHASSIS_MODE_DAOHANG)
+    {
+      c->move_vec.Vx = -c_cmd->Vx/1;
+      c->move_vec.Vy = c_cmd->Vy/1;
+      c->move_vec.Vw =0.0f;//PID_Calc(&c->pid.daohang_chassis_follow_gimbal_pid, 4.51735544f ,c->motorfeedback.gimbal_yaw_encoder.rotor_abs_angle, 0.0f, c->dt);
+    }
   /*给输出的Vx，Vy，Vw进行滤波*/
-  c->move_vec.Vx = LowPassFilter2p_Apply(&c->filled[0], c->move_vec.Vx);
-  c->move_vec.Vy = LowPassFilter2p_Apply(&c->filled[1], c->move_vec.Vy);
-  c->move_vec.Vw = LowPassFilter2p_Apply(&c->filled[2], c->move_vec.Vw);
+  // c->move_vec.Vx = LowPassFilter2p_Apply(&c->filled[0], c->move_vec.Vx);
+  // c->move_vec.Vy = LowPassFilter2p_Apply(&c->filled[1], c->move_vec.Vy);
+  // c->move_vec.Vw = LowPassFilter2p_Apply(&c->filled[2], c->move_vec.Vw);
 
   Chassis_speed_calculate(c, c_cmd);
-if(c->ctrl_mode == CHASSIS_MODE_RC)
-{
-  switch (c->mode)
-  {  case CHASSIS_MODE_BREAK:
-  case CHASSIS_MODE_RELAX:
-  case STOP:
-  case RC:
-  case CHASSIS_MODE_FOLLOW_GIMBAL:
-  case CHASSIS_MODE_ROTOR:
+// if(c->ctrl_mode == CHASSIS_MODE_RC)
+// {
+//   switch (c->mode)
+//   {  case CHASSIS_MODE_BREAK:
+//   case CHASSIS_MODE_RELAX:
+//   case STOP:
+//   case RC:
+//   case CHASSIS_MODE_FOLLOW_GIMBAL:
+//   case CHASSIS_MODE_ROTOR:
   
   for (int i = 0; i < 4; i++)
   {
@@ -461,30 +461,30 @@ if(c->ctrl_mode == CHASSIS_MODE_RC)
                                              c->motorfeedback.rotor_rpm3508[i], 0.0f, c->dt);
     c->out.rotor3508_out[i] = LowPassFilter2p_Apply(&c->filled[3+i], c->final_out.final_3508out[i]);
   }
-  break;
-  }
+  // break;
+  // }
 //   if(c->ctrl_mode == CHASSIS_MODE_DAOHANG)
 // {
 
-for(int i=0;i<4;i++)
-{
-   float chassis6020_detangle[4]; // 6020解算出的角度                  
-    c->hopemotorout.motor6020_target[i] = c->hopemotorout.rotor6020_jiesuan_2[i];
-    chassis6020_detangle[i] = PID_Calc(&(c->pid.chassis_6020anglePid[i]), c->hopemotorout.motor6020_target[i],
-                                       c->motorfeedback.rotor_angle6020[i], 0.0f, c->dt);
-    // c->final_out.final_6020out[i] = chassis6020_detangle[i] ; //单环控制就用这个
-    c->final_out.final_6020out[i] = PID_Calc(&(c->pid.chassis_6020OmegaPid[i]), chassis6020_detangle[i],
-                                             c->motorfeedback.rotor_rpm6020[i], 0.0f, c->dt);
+// for(int i=0;i<4;i++)
+// {
+//    float chassis6020_detangle[4]; // 6020解算出的角度                  
+//     c->hopemotorout.motor6020_target[i] = c->hopemotorout.rotor6020_jiesuan_2[i];
+//     chassis6020_detangle[i] = PID_Calc(&(c->pid.chassis_6020anglePid[i]), c->hopemotorout.motor6020_target[i],
+//                                        c->motorfeedback.rotor_angle6020[i], 0.0f, c->dt);
+//     // c->final_out.final_6020out[i] = chassis6020_detangle[i] ; //单环控制就用这个
+//     c->final_out.final_6020out[i] = PID_Calc(&(c->pid.chassis_6020OmegaPid[i]), chassis6020_detangle[i],
+//                                              c->motorfeedback.rotor_rpm6020[i], 0.0f, c->dt);
 
-    c->out.rotor6020_out[i] = LowPassFilter2p_Apply(&c->filled[7+i], c->final_out.final_6020out[i]);
+//     c->out.rotor6020_out[i] = LowPassFilter2p_Apply(&c->filled[7+i], c->final_out.final_6020out[i]);
 
-    c->hopemotorout.motor3508_target[i] = c->hopemotorout.rotor3508_jiesuan_2[i];
-    c->final_out.final_3508out[i] = PID_Calc(&(c->pid.chassis_3508DAOHANG_pid[i]), c->hopemotorout.motor3508_target[i],
-                                             c->motorfeedback.rotor_truespeed3508[i], 0.0f, c->dt);
-    c->out.rotor3508_out[i] = LowPassFilter2p_Apply(&c->filled[3+i], c->final_out.final_3508out[i]);
-}
+//     c->hopemotorout.motor3508_target[i] = c->hopemotorout.rotor3508_jiesuan_2[i];
+//     c->final_out.final_3508out[i] = PID_Calc(&(c->pid.chassis_3508DAOHANG_pid[i]), c->hopemotorout.motor3508_target[i],
+//                                              c->motorfeedback.rotor_truespeed3508[i], 0.0f, c->dt);
+//     c->out.rotor3508_out[i] = LowPassFilter2p_Apply(&c->filled[3+i], c->final_out.final_3508out[i]);
+// }
 
-}
+// }
 // }
   return CHASSIS_OK;
 }
diff --git a/User/module/config.c b/User/module/config.c
index 147e756..9b3937c 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -246,8 +246,8 @@ Config_Param_t config = {
         },
 
 .pid.daohang_6020_motor_angle={
-            .k = 2.0f, 
-            .p = 2.5f, 
+            .k = 1.5f, 
+            .p = 1.7f, 
             .i = 0.0f, 
             .d = 0.0f, 
             .i_limit = 1.0f, 
@@ -260,7 +260,7 @@ Config_Param_t config = {
             .p = 5.0f, 
             .i = 1.0f, 
             .d = 0.2f, 
-            .i_limit = 0.0f, 
+            .i_limit = 1.0f, 
             .out_limit = 3.0f, 
             .d_cutoff_freq = 20.0f, 
             .range = M_2PI
diff --git a/User/task/chassis.c b/User/task/chassis.c
index 26394cd..ca321f0 100644
--- a/User/task/chassis.c
+++ b/User/task/chassis.c
@@ -66,7 +66,7 @@ osMessageQueueGet(task_runtime.msgq.navi.c_cmd, &c_cmd_ai_result, NULL, 0);
 	 Chassis_CMD_t safe_cmd = {.mode = STOP, .Vx = 0, .Vy = 0, .Vw = 0};
     Chassis_Control(&chassis, &safe_cmd,tick);
 }
-    // Chassis_Setoutput(&chassis);
+    Chassis_Setoutput(&chassis);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }