diff --git a/User/device/ai.c b/User/device/ai.c
index ad97b28..903f552 100644
--- a/User/device/ai.c
+++ b/User/device/ai.c
@@ -2,7 +2,12 @@
 #include "device/device.h"
 #include "bsp/uart.h"
 #include "component/crc16.h"
-#include  "device/referee.h"
+#include "device/referee.h"
+
+/* ---- 接收缓冲 ---- */
+static uint8_t ai_rx_buf[64];        /* DMA 接收缓冲，略大于 PackageAI_t */
+static AI_result_t ai_parsed;        /* 解析后的结果 */
+static volatile uint8_t ai_data_ready = 0;
 
 static int8_t Package_BuildAndVerify(uint8_t *raw, uint16_t len, uint8_t id) {
   uint16_t *crc = NULL;
@@ -22,105 +27,119 @@ static int8_t Package_BuildAndVerify(uint8_t *raw, uint16_t len, uint8_t id) {
   return DEVICE_OK;
 }
 
-static int8_t Package_Check(const uint8_t *raw, uint16_t len, uint8_t expected_id) {
-  if (raw == NULL || len <= sizeof(uint16_t)) {
-    return DEVICE_ERR;
+/* IDLE LINE 回调 —— 上位机发完一帧后总线空闲触发 */
+static void AI_IdleLineCallback(void) {
+  UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_1);
+
+  /* 停止DMA，计算实际收到的字节数 */
+  HAL_UART_DMAStop(huart);
+  uint16_t rx_len = sizeof(ai_rx_buf) - __HAL_DMA_GET_COUNTER(huart->hdmarx);
+
+  /* 长度匹配才解析 */
+  if (rx_len == sizeof(PackageAI_t)) {
+    PackageAI_t *pkt = (PackageAI_t *)ai_rx_buf;
+
+    if (pkt->id == ID_AI) {
+      ai_parsed.mode = pkt->data.mode;
+      ai_parsed.gimbal_t.setpoint.yaw = pkt->data.yaw;
+      ai_parsed.gimbal_t.vel.yaw     = pkt->data.yaw_vel;
+      ai_parsed.gimbal_t.accl.yaw    = pkt->data.yaw_acc;
+      ai_parsed.gimbal_t.setpoint.pit = pkt->data.pitch;
+      ai_parsed.gimbal_t.vel.pit     = pkt->data.pitch_vel;
+      ai_parsed.gimbal_t.accl.pit    = pkt->data.pitch_acc;
+      ai_parsed.chassis_t.Vx = pkt->data.vx;
+      ai_parsed.chassis_t.Vy = pkt->data.vy;
+      ai_parsed.chassis_t.Vw = pkt->data.wz;
+      ai_data_ready = 1;
+    }
   }
 
-  if (raw[0] != expected_id) {
-    return DEVICE_ERR;
-  }
+  /* 重启DMA接收，等待下一帧 */
+  BSP_UART_Receive(BSP_UART_1, ai_rx_buf, sizeof(ai_rx_buf), true);
+}
 
-  if (CRC16_Verify(raw, len) != true) {
-    return DEVICE_ERR;
-  }
+/**
+ * @brief 初始化AI通信，注册IDLE回调并启动DMA接收
+ */
+int8_t AI_Init(void) {
+  UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_1);
 
+  /* 注册IDLE LINE回调 */
+  BSP_UART_RegisterCallback(BSP_UART_1, BSP_UART_IDLE_LINE_CB,
+                            (void (*)(void))AI_IdleLineCallback);
+
+  /* 使能IDLE中断 */
+  __HAL_UART_ENABLE_IT(huart, UART_IT_IDLE);
+
+  /* 启动第一次DMA接收 */
+  BSP_UART_Receive(BSP_UART_1, ai_rx_buf, sizeof(ai_rx_buf), true);
   return DEVICE_OK;
 }
 
-
-int8_t AI_StartReceiving(PackageAI_t *ai) {
-  if (BSP_UART_Receive(BSP_UART_1,(uint8_t *)ai,sizeof(*ai), true)==HAL_OK) {
-    return DEVICE_OK;}
-  return DEVICE_ERR;
+/**
+ * @brief 获取最新的AI数据（非阻塞，task循环中调用）
+ * @return DEVICE_OK=有新数据已拷贝, DEVICE_ERR=无新数据
+ */
+int8_t AI_GetLatest(AI_result_t *result) {
+  if (result == NULL) {
+    return DEVICE_ERR;
+  }
+  if (!ai_data_ready) {
+    return DEVICE_ERR;
+  }
+  *result = ai_parsed;
+  ai_data_ready = 0;
+  return DEVICE_OK;
 }
 
-int8_t AI_Get_NUC(PackageAI_t *ai,AI_result_t* result) {
-		if (ai == NULL || result == NULL) {
-			return DEVICE_ERR;
-		}
+/* ---- 以下发送函数不变 ---- */
 
-		if (Package_Check((const uint8_t *)ai, sizeof(*ai), ID_AI) != DEVICE_OK) {
-			return DEVICE_ERR;
-		}
+int8_t MCU_Send(PackageMCU_t *mcu, Gimbal_feedback_t *motor, AHRS_Quaternion_t *quat) {
+  (void)quat;
+  if (mcu == NULL || motor == NULL) {
+    return DEVICE_ERR;
+  }
 
-		result->mode=ai->data.mode;
-		result->gimbal_t.setpoint.yaw=ai->data.yaw;
-		result->gimbal_t.vel.yaw=ai->data.yaw_vel;
-		result->gimbal_t.accl.yaw=ai->data.yaw_acc;
-		result->gimbal_t.setpoint.pit=ai->data.pitch;
-		result->gimbal_t.vel.pit=ai->data.pitch_vel;
-		result->gimbal_t.accl.pit=ai->data.pitch_acc;
+  mcu->data.mode = 1;
+  mcu->data.q[0] = motor->imu.quat.q0;
+  mcu->data.q[1] = motor->imu.quat.q1;
+  mcu->data.q[2] = motor->imu.quat.q2;
+  mcu->data.q[3] = motor->imu.quat.q3;
+  mcu->data.yaw = motor->imu.eulr.yaw;
+  mcu->data.yaw_vel = motor->imu.gyro.z;
+  mcu->data.pitch = motor->imu.eulr.rol;
+  mcu->data.pitch_vel = motor->imu.gyro.x;
+  mcu->data.bullet_count = 0;
+  mcu->data.bullet_speed = 22;
 
-		result->chassis_t.Vx=ai->data.vx;
-		result->chassis_t.Vy=ai->data.vy;
-		result->chassis_t.Vw=ai->data.wz;
-
-		return DEVICE_OK;
+  return Package_BuildAndVerify((uint8_t *)mcu, sizeof(*mcu), ID_MCU);
 }
 
+int8_t REF_Send(PackageReferee_t *referee, Referee_RobotStatus_t *robot_status, Referee_GameStatus_t *game_status) {
+  if (referee == NULL || robot_status == NULL || game_status == NULL) {
+    return DEVICE_ERR;
+  }
 
-int8_t MCU_Send(PackageMCU_t* mcu,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat ){ 
-		(void)quat;
-		if (mcu == NULL || motor == NULL) {
-			return DEVICE_ERR;
-		}
+  referee->data.remain_hp = robot_status->current_HP;
+  referee->data.game_progress = game_status->game_progress & 0x0F;
+  referee->data.stage_remain_time = game_status->stage_remain_time;
 
-		mcu->data.mode=1;
-		mcu->data.q[0]=motor->imu.quat.q0;	  
-		mcu->data.q[1]=motor->imu.quat.q1;	
-		mcu->data.q[2]=motor->imu.quat.q2;	
-		mcu->data.q[3]=motor->imu.quat.q3;
-		mcu->data.yaw=motor->imu.eulr.yaw;
-		mcu->data.yaw_vel=motor->imu.gyro.z;			
-		mcu->data.pitch=motor->imu.eulr.rol;
-		mcu->data.pitch_vel=motor->imu.gyro.x;
-		mcu->data.bullet_count=0;
-		mcu->data.bullet_speed=22;			
-
-		return Package_BuildAndVerify((uint8_t *)mcu, sizeof(*mcu), ID_MCU);
-}
-
-int8_t  REF_Send(PackageReferee_t *referee,Referee_RobotStatus_t* robot_status,Referee_GameStatus_t *game_status) {
-		if (referee == NULL || robot_status == NULL || game_status == NULL) {
-			return DEVICE_ERR;
-		}
-
-		referee->data.remain_hp=robot_status->current_HP;
-		referee->data.game_progress = game_status->game_progress & 0x0F;
-		referee->data.stage_remain_time= game_status->stage_remain_time;
-
-		return Package_BuildAndVerify((uint8_t *)referee, sizeof(*referee), ID_REF);
+  return Package_BuildAndVerify((uint8_t *)referee, sizeof(*referee), ID_REF);
 }
 
 int8_t REF_StartSend(PackageReferee_t *referee) {
-	if (referee == NULL) {
-		return DEVICE_ERR;
-	}
+  if (referee == NULL) {
+    return DEVICE_ERR;
+  }
 
-	if(BSP_UART_Transmit(BSP_UART_1, (uint8_t *)referee, sizeof(*referee), true)==HAL_OK)
-	  return DEVICE_OK;
-	return DEVICE_ERR;
+  if (BSP_UART_Transmit(BSP_UART_1, (uint8_t *)referee, sizeof(*referee), true) == HAL_OK)
+    return DEVICE_OK;
+  return DEVICE_ERR;
 }
 
-
 int8_t MCU_StartSend(PackageMCU_t *mcu) {
-	if(BSP_UART_Transmit(BSP_UART_1, (uint8_t *)mcu, sizeof(*mcu), true)==HAL_OK)
-	  return DEVICE_OK;
-	return DEVICE_ERR;
-
+  if (BSP_UART_Transmit(BSP_UART_1, (uint8_t *)mcu, sizeof(*mcu), true) == HAL_OK)
+    return DEVICE_OK;
+  return DEVICE_ERR;
 }
 
-
- 
-                                                                                          
\ No newline at end of file
diff --git a/User/device/ai.h b/User/device/ai.h
index 938c713..b5493ed 100644
--- a/User/device/ai.h
+++ b/User/device/ai.h
@@ -15,7 +15,7 @@ extern "C" {
 // {
 //   uint8_t head[2];
 //   uint8_t mode;  // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符
-//   float q[4];    // wxyz顺序	/q4,q0,q1,q2/
+//   float q[4];    // wxyz顺序 /q4,q0,q1,q2/
 //   float yaw;
 //   float yaw_vel;
 //   float pitch;
@@ -39,31 +39,31 @@ extern "C" {
 // };
 
 // typedef struct __attribute__((packed)) {
-// 	uint8_t mode;
-// 	struct{
-// //	Gimbal_CMD_t g_cmd;
-// 		struct{
-// 				float yaw;
-// 				float pit;		
-// 		}setpoint;
-		
-		
-// 		struct{
-// 					float pit;
-// 					float yaw;	
-// 					}accl;
-// 		struct{
-// 					float pit;
-// 					float yaw;	
-// 					}vel;		
-// 	}gimbal_t;
-	
+//  uint8_t mode;
+//  struct{
+// // Gimbal_CMD_t g_cmd;
+//    struct{
+//        float yaw;
+//        float pit;    
+//    }setpoint;
+    
+    
+//    struct{
+//          float pit;
+//          float yaw;  
+//          }accl;
+//    struct{
+//          float pit;
+//          float yaw;  
+//          }vel;   
+//  }gimbal_t;
+  
 // }AI_cmd_t;
 
 
 // typedef struct __attribute__((packed)) {
-// 	struct GimbalToVision TX;
-// 	struct VisionToGimbal RX;
+//  struct GimbalToVision TX;
+//  struct VisionToGimbal RX;
 // }AI_t;
 
 
@@ -134,40 +134,41 @@ typedef struct __attribute__((packed))
 } PackageAI_t;
 
 typedef struct __attribute__((packed)) {
-	uint8_t mode;  // 0: 不控制, 1: 控制云台但不开火, 2: 控制云台且开火
-	struct{
-//	Gimbal_CMD_t g_cmd;
-		struct{
-				float yaw; // 目标偏航角
-				float pit;	// 目标俯仰角	
-		}setpoint;
-		
-		struct{
-					float pit;	// 俯仰角加速度
-					float yaw;	// 偏航角加速度	
-					}accl;
-		struct{
-					float pit;	// 俯仰角速度
-					float yaw;	// 偏航角速度
-					}vel;		
-	}gimbal_t;
+  uint8_t mode;  // 0: 不控制, 1: 控制云台但不开火, 2: 控制云台且开火
+  struct{
+//  Gimbal_CMD_t g_cmd;
+    struct{
+        float yaw; // 目标偏航角
+        float pit;  // 目标俯仰角  
+    }setpoint;
+    
+    struct{
+          float pit;  // 俯仰角加速度
+          float yaw;  // 偏航角加速度 
+          }accl;
+    struct{
+          float pit;  // 俯仰角速度
+          float yaw;  // 偏航角速度
+          }vel;   
+  }gimbal_t;
 
     struct{
         float Vx;  // X 方向速度
         float Vy;  // Y 方向速度
         float Vw;  // Z 方向角速度
     }chassis_t;
-	
+  
     uint8_t reserved;  // 预留字段
 }AI_result_t; //接收到的所有数据，来自NUC
 
 
+int8_t AI_Init(void);
+int8_t AI_GetLatest(AI_result_t *result);
 int8_t MCU_Send(PackageMCU_t* mcu,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat);
 int8_t REF_Send(PackageReferee_t *referee,Referee_RobotStatus_t* robot_status,Referee_GameStatus_t *game_status);
 int8_t REF_StartSend(PackageReferee_t *referee);
 int8_t MCU_StartSend(PackageMCU_t *mcu);
-int8_t AI_Get_NUC(PackageAI_t *ai,AI_result_t* result);
-int8_t AI_StartReceiving(PackageAI_t *ai);
 #ifdef __cplusplus
 }
 #endif
+
diff --git a/User/module/chassis.c b/User/module/chassis.c
index 618d71e..55a6141 100644
--- a/User/module/chassis.c
+++ b/User/module/chassis.c
@@ -448,28 +448,8 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
     // 跟随云台模式
     c->move_vec.Vx =-c_cmd->Vy;
     c->move_vec.Vy =-c_cmd->Vx;
-    if (fabsf(c->move_vec.Vx) < CHASSIS_FOLLOW_TRANS_DEADBAND) c->move_vec.Vx = 0.0f;
-    if (fabsf(c->move_vec.Vy) < CHASSIS_FOLLOW_TRANS_DEADBAND) c->move_vec.Vy = 0.0f;
-    {
-      const float follow_target = c->mech_zero_4310;
-      const float follow_err = CircleError(follow_target,
-                                           c->motorfeedback.gimbal_yaw_encoder.rotor_abs_angle,
-                                           M_2PI);
-      if (fabsf(follow_err) < CHASSIS_FOLLOW_LOCK_DEADBAND_RAD) {
-        c->move_vec.Vw = 0.0f;
-        PID_ResetIntegral(&c->pid.chassis_follow_gimbal_pid);
-      } else {
-        float follow_vw = PID_Calc(&c->pid.chassis_follow_gimbal_pid,
-                                   follow_target,
-                                   c->motorfeedback.gimbal_yaw_encoder.rotor_abs_angle,
-                                   0.0f,
-                                   c->dt);
-        if (fabsf(follow_vw) < CHASSIS_FOLLOW_VW_DEADBAND) {
-          follow_vw = 0.0f;
-        }
-        c->move_vec.Vw = follow_vw;
-      }
-    }
+    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);
+  
     break;
 
 
@@ -561,6 +541,7 @@ void Chassis_Setoutput(Chassis_t *c)
   }
   // MOTOR_RM_SetOutput(&(c->param->motor_3508_param[0]), 1.0f);
   MOTOR_RM_Ctrl(&(c->param->motor_3508_param[0]));
+  MOTOR_RM_Ctrl(&(c->param->motor_3508_param[1]));
   MOTOR_RM_Ctrl(&(c->param->motor_6020_param[0]));
   // MOTOR_RM_Ctrl(&(c->param->motor_6020_param[3]));
 
diff --git a/User/module/cmd.c b/User/module/cmd.c
index deb7c98..df69bff 100644
--- a/User/module/cmd.c
+++ b/User/module/cmd.c
@@ -3,6 +3,7 @@
  */
 #include "module/cmd.h"
 #include "bsp/time.h"
+#include "chassis.h"
 #include <stdint.h>
 #include <string.h>
 
@@ -35,8 +36,8 @@ static void CMD_RC_BuildChassisCmd(CMD_t *ctx) {
   }
   
   /* 左摇杆控制移动 */
-  ctx->output.chassis.cmd.Vx = ctx->input.rc.joy_left.x;
-  ctx->output.chassis.cmd.Vy = ctx->input.rc.joy_left.y;
+  ctx->output.chassis.cmd.Vx = ctx->input.rc.joy_right.x;
+  ctx->output.chassis.cmd.Vy = ctx->input.rc.joy_right.y;
 }
 
 /* 从RC输入生成云台命令 */
@@ -60,9 +61,9 @@ static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
   }
   
   /* 右摇杆控制云台 */
-  ctx->output.gimbal.cmd.delta_yaw_6020 = -ctx->input.rc.joy_right.x * 2.0f;
-  ctx->output.gimbal.cmd.delta_yaw_4310 = -ctx->input.rc.joy_right.x * 1.2f;
-  ctx->output.gimbal.cmd.delta_pitch_4310 = -ctx->input.rc.joy_right.y * 1.5f;
+  ctx->output.gimbal.cmd.delta_yaw_6020 = -ctx->input.rc.joy_left.x * 2.0f;
+  ctx->output.gimbal.cmd.delta_yaw_4310 = -ctx->input.rc.joy_left.x * 1.2f;
+  ctx->output.gimbal.cmd.delta_pitch_4310 = -ctx->input.rc.joy_left.y * 1.5f;
 }
 
 /* 从RC输入生成射击命令 */
@@ -107,18 +108,18 @@ static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
   }
   switch (ctx->input.rc.sw[1]) {
       case CMD_SW_UP:
-        ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_RC; 
-        ctx->output.gimbal.cmd.ctrl_mode = GIMBAL_MODE_REMOTE;			
+        ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_RC;
+        ctx->output.gimbal.cmd.ctrl_mode = GIMBAL_MODE_REMOTE;
         ctx->output.shoot.cmd.control_mode = SHOOT_REMOTE;
           break;
       case CMD_SW_MID:
-         ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_DAOHANG;	
-         ctx->output.gimbal.cmd.mode = GIMBAL_MODE_DAOHANG;					
+         ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_DAOHANG;
+         ctx->output.gimbal.cmd.mode = GIMBAL_MODE_DAOHANG;
          ctx->output.shoot.cmd.control_mode = SHOOT_REMOTE;
           break;
       case CMD_SW_DOWN:
-          ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_RELAX;
-            ctx->output.gimbal.cmd.ctrl_mode = GIMBAL_MODE_AI;
+          ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_FOLLOW_GIMBAL;
+            ctx->output.gimbal.cmd.ctrl_mode = GIMBAL_MODE_SCAN;
             ctx->output.shoot.cmd.control_mode = SHOOT_AI;
           break;
       default:
@@ -126,6 +127,12 @@ static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
             ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
             ctx->output.shoot.cmd.control_mode = SHOOT_REMOTE;
           break;
+  }
+
+  /* sw[5] (F拨杆): 下=纯AI自瞄(无扫描), 上/中=保持B拨杆的设定 */
+  if (ctx->input.rc.sw[5] == CMD_SW_DOWN) {
+    ctx->output.gimbal.cmd.ctrl_mode = GIMBAL_MODE_AI;
+    ctx->output.shoot.cmd.control_mode = SHOOT_AI;
   }	
 	
 }
diff --git a/User/module/config.c b/User/module/config.c
index 0e97a96..e1420f8 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -17,7 +17,7 @@ Config_Param_t config = {
     .chassis = {
 
         .motor_3508_param[0] = {BSP_CAN_1, 0x201, MOTOR_M3508, false, false},
-        .motor_3508_param[1] = {BSP_CAN_1, 0x202, MOTOR_M3508, false, false},
+        .motor_3508_param[1] = {BSP_CAN_2, 0x204, MOTOR_M3508, false, false},
         .motor_3508_param[2] = {BSP_CAN_1, 0x203, MOTOR_M3508, false, false},
         .motor_3508_param[3] = {BSP_CAN_1, 0x204, MOTOR_M3508, false, false},
 
@@ -247,7 +247,7 @@ Config_Param_t config = {
 
 .pid.daohang_6020_motor_angle={
             .k = 1.5f, 
-            .p = 1.7f, 
+            .p = 1.2f, 
             .i = 0.0f, 
             .d = 0.0f, 
             .i_limit = 1.0f, 
@@ -257,7 +257,7 @@ Config_Param_t config = {
         },
 .pid.daohang_4310_motor_angle={
             .k = 2.0f, 
-            .p = 5.0f, 
+            .p = 2.0f, 
             .i = 1.0f, 
             .d = 0.2f, 
             .i_limit = 1.0f, 
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index 7934062..bcb7a87 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -56,20 +56,11 @@ static float g_scan_pitch_dir = 1.0f;
 static float g_scan_yaw_dir = 1.0f;
 static int8_t g_scan_yaw_edge_latch = 0; /* -1: min边界锁存, 1: max边界锁存 */
 
-#define GIMBAL_SCAN_SMALL_YAW_SPEED (0.40f)
-#define GIMBAL_SCAN_BIG_YAW_PERIOD_SEC (5.0f)
-#define GIMBAL_SCAN_PITCH_SPEED (0.16f)
-#define GIMBAL_SCAN_PITCH_AMPLITUDE (0.18f)
-#define GIMBAL_SCAN_YAW_EDGE_MARGIN (0.16f)
-#define GIMBAL_SCAN_YAW_EDGE_HYST (0.22f)
-#define GIMBAL_SCAN_YAW_EDGE_RELEASE (0.28f)
-#define GIMBAL_SCAN_PITCH_EDGE_MARGIN (0.12f)
-#define GIMBAL_SCAN_EDGE_SLOW_BAND (0.26f)
-#define GIMBAL_REMOTE_BIG_YAW_SPEED_GAIN (1.6f)
-#define GIMBAL_REMOTE_SMALL_YAW_GAIN (16.0f)
-#define GIMBAL_REMOTE_EDGE_ASSIST_BAND (0.20f)
-#define GIMBAL_YAW6020_INPUT_DEADBAND (0.0005f)
-#define GIMBAL_CONTROL_DT_MAX (0.02f)
+#define GIMBAL_SCAN_SMALL_YAW_SPEED (4.0f)       /* 扫描模式小YAW旋转速度 (rad/s) */
+#define GIMBAL_SCAN_PITCH_SPEED (3.0f)            /* 扫描模式pitch上下扫描速度 (rad/s) */
+#define GIMBAL_SCAN_PITCH_EDGE_MARGIN (0.03f)      /* pitch接近限位多远开始反转 (rad) */
+
+
 
 
 
@@ -232,23 +223,23 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu){
   return GIMBAL_OK;
 }
 
-// 	int8_t Gimbal_Control_mode(Gimbal_t *g,Gimbal_CMD_t *g_cmd){
-// 	  if (g == NULL || g_cmd == NULL) {
+//  int8_t Gimbal_Control_mode(Gimbal_t *g,Gimbal_CMD_t *g_cmd){
+//    if (g == NULL || g_cmd == NULL) {
 //     return -1;
 //   }
-// 		switch(g_cmd->ctrl_mode){
-// 			case GIMBAL_MODE_REMOTE:
-// 				g->setpoint.eulr.yaw=g_cmd->delta_yaw_6020;	
-// 				g->setpoint.eulr.pit=g_cmd->delta_pitch_4310;
-// 				break;
-// 			case GIMBAL_MODE_AI:				
-// 			g->setpoint.eulr.yaw=g_cmd->set_yaw;	
-// 			g->setpoint.eulr.pit=g_cmd->set_pitch;
-// 				break;
-// 	  default:
-//         break;		
-// 		}
-// 		return GIMBAL_OK;
+//    switch(g_cmd->ctrl_mode){
+//      case GIMBAL_MODE_REMOTE:
+//        g->setpoint.eulr.yaw=g_cmd->delta_yaw_6020; 
+//        g->setpoint.eulr.pit=g_cmd->delta_pitch_4310;
+//        break;
+//      case GIMBAL_MODE_AI:        
+//      g->setpoint.eulr.yaw=g_cmd->set_yaw;  
+//      g->setpoint.eulr.pit=g_cmd->set_pitch;
+//        break;
+//    default:
+//         break;   
+//    }
+//    return GIMBAL_OK;
 // };
 
 /**
@@ -276,171 +267,40 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu){
     uint64_t now_us = BSP_TIME_Get_us();
     g->dt = (now_us - g->last_wakeup) / 1000000.0f;
     g->last_wakeup = now_us;
-    if (g->dt < 0.0f || g->dt > GIMBAL_CONTROL_DT_MAX) {
-      g->dt = 0.002f;
-    }
+  
   }
 
  Gimbal_SetMode(g, g_cmd->mode);
 
-  if (g_cmd->ctrl_mode == GIMBAL_MODE_SCAN) {
-    float yaw_speed_scale = 1.0f;
-    float big_yaw_speed = 0.0f;
-    float pitch_speed_scale = 1.0f;
-    float yaw_abs = g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle;
-    float pitch_abs = g->feedback.motor.pitch_4310_motor_feedback.rotor_abs_angle;
+ /*处理小yaw轴控制命令*/
+float delta_yaw_6020 = 5.0f*g_cmd->delta_yaw_6020 * g->dt;
 
-    if (!g_scan_active) {
-      float yaw_mid = 0.5f * (g->limit.yaw_6020.max + g->limit.yaw_6020.min);
-      g_scan_active = 1;
-      g_scan_pitch_center = g->feedback.imu.eulr.rol;
-      g_scan_pitch_dir = 1.0f;
-      g_scan_yaw_dir = (yaw_abs >= yaw_mid) ? -1.0f : 1.0f;
-      g_scan_yaw_edge_latch = 0;
-      g->setpoint.yaw_4310 = g->feedback.motor.yaw_4310_motor_feedback.rotor_abs_angle;
-    }
+if(g->param->travel.yaw_6020 > 0)  // 有限位才处理
+{
+/* 计算当前电机角度与IMU角度的偏差 */
+float motor_imu_offset_6020 = g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle - g->feedback.imu.eulr.yaw;
+/* 处理跨越±π的情况 */
+if (motor_imu_offset_6020 > M_PI) motor_imu_offset_6020 -= M_2PI;
+if (motor_imu_offset_6020 < -M_PI) motor_imu_offset_6020 += M_2PI;
+/*计算限位距离*/
+const float delta_max_6020 = CircleError(g->limit.yaw_6020.max,
+    (g->setpoint.eulr.yaw + motor_imu_offset_6020 + delta_yaw_6020), M_2PI);
+const float delta_min_6020 = CircleError(g->limit.yaw_6020.min,
+    (g->setpoint.eulr.yaw + motor_imu_offset_6020 + delta_yaw_6020), M_2PI);    
 
-    if (GIMBAL_SCAN_BIG_YAW_PERIOD_SEC > 0.0f) {
-      /* 连续旋转：按周期计算角速度，5秒转一圈即 2PI/5 */
-      big_yaw_speed = M_2PI / GIMBAL_SCAN_BIG_YAW_PERIOD_SEC;
-    }
-
-    if (g_scan_yaw_edge_latch == 1) {
-      g_scan_yaw_dir = -1.0f;
-      if (yaw_abs < g->limit.yaw_6020.max - GIMBAL_SCAN_YAW_EDGE_RELEASE) {
-        g_scan_yaw_edge_latch = 0;
-      }
-    } else if (g_scan_yaw_edge_latch == -1) {
-      g_scan_yaw_dir = 1.0f;
-      if (yaw_abs > g->limit.yaw_6020.min + GIMBAL_SCAN_YAW_EDGE_RELEASE) {
-        g_scan_yaw_edge_latch = 0;
-      }
-    } else if (yaw_abs >= g->limit.yaw_6020.max - GIMBAL_SCAN_YAW_EDGE_MARGIN) {
-      g_scan_yaw_dir = -1.0f;
-      g_scan_yaw_edge_latch = 1;
-    } else if (yaw_abs <= g->limit.yaw_6020.min + GIMBAL_SCAN_YAW_EDGE_MARGIN) {
-      g_scan_yaw_dir = 1.0f;
-      g_scan_yaw_edge_latch = -1;
-    } else if (g_scan_yaw_dir > 0.0f && yaw_abs > g->limit.yaw_6020.max - GIMBAL_SCAN_YAW_EDGE_HYST) {
-      g_scan_yaw_dir = -1.0f;
-    } else if (g_scan_yaw_dir < 0.0f && yaw_abs < g->limit.yaw_6020.min + GIMBAL_SCAN_YAW_EDGE_HYST) {
-      g_scan_yaw_dir = 1.0f;
-    }
-
-    if (pitch_abs >= g->limit.pitch_4310.max - GIMBAL_SCAN_PITCH_EDGE_MARGIN) {
-      g_scan_pitch_dir = -1.0f;
-    } else if (pitch_abs <= g->limit.pitch_4310.min + GIMBAL_SCAN_PITCH_EDGE_MARGIN) {
-      g_scan_pitch_dir = 1.0f;
-    }
-
-    {
-      float yaw_dist_to_edge_max = g->limit.yaw_6020.max - yaw_abs;
-      float yaw_dist_to_edge_min = yaw_abs - g->limit.yaw_6020.min;
-      float yaw_min_dist = (yaw_dist_to_edge_max < yaw_dist_to_edge_min) ? yaw_dist_to_edge_max : yaw_dist_to_edge_min;
-      if (yaw_min_dist < GIMBAL_SCAN_EDGE_SLOW_BAND) {
-        if (yaw_min_dist < 0.0f) yaw_min_dist = 0.0f;
-        yaw_speed_scale = (yaw_min_dist / GIMBAL_SCAN_EDGE_SLOW_BAND);
-      }
-    }
-
-    {
-      float pitch_dist_to_edge_max = g->limit.pitch_4310.max - pitch_abs;
-      float pitch_dist_to_edge_min = pitch_abs - g->limit.pitch_4310.min;
-      float pitch_min_dist = (pitch_dist_to_edge_max < pitch_dist_to_edge_min) ? pitch_dist_to_edge_max : pitch_dist_to_edge_min;
-      if (pitch_min_dist < GIMBAL_SCAN_EDGE_SLOW_BAND) {
-        if (pitch_min_dist < 0.0f) pitch_min_dist = 0.0f;
-        pitch_speed_scale = 0.25f + 0.75f * (pitch_min_dist / GIMBAL_SCAN_EDGE_SLOW_BAND);
-      }
-    }
-
-    if (g->feedback.imu.eulr.rol >= g_scan_pitch_center + GIMBAL_SCAN_PITCH_AMPLITUDE) {
-      g_scan_pitch_dir = -1.0f;
-    } else if (g->feedback.imu.eulr.rol <= g_scan_pitch_center - GIMBAL_SCAN_PITCH_AMPLITUDE) {
-      g_scan_pitch_dir = 1.0f;
-    }
-
-    g_cmd->delta_yaw_6020 = g_scan_yaw_dir * GIMBAL_SCAN_SMALL_YAW_SPEED * yaw_speed_scale;
-    g_cmd->delta_pitch_4310 = g_scan_pitch_dir * GIMBAL_SCAN_PITCH_SPEED * pitch_speed_scale;
-    if (g->param->travel.yaw_4310 > 0.0f) {
-      g->setpoint.yaw_4310 += big_yaw_speed * g->dt;
-      if (g->setpoint.yaw_4310 > g->limit.yaw_4310.max) g->setpoint.yaw_4310 = g->limit.yaw_4310.max;
-      if (g->setpoint.yaw_4310 < g->limit.yaw_4310.min) g->setpoint.yaw_4310 = g->limit.yaw_4310.min;
-    } else {
-      CircleAdd(&(g->setpoint.yaw_4310), big_yaw_speed * g->dt, M_2PI);
-    }
-    g_cmd->yaw_vel = 0.0f;
-    g_cmd->yaw_accl = 0.0f;
-    g_cmd->pit_vel = 0.0f;
-    g_cmd->pit_accl = 0.0f;
-  } else {
-    g_scan_active = 0;
-    g_scan_yaw_dir = 1.0f;
-    g_scan_yaw_edge_latch = 0;
-  }
-
-/*处理小yaw轴控制命令*/
-float yaw_6020_gain = 10.0f;
-if (g_cmd->ctrl_mode == GIMBAL_MODE_REMOTE) {
-  yaw_6020_gain = GIMBAL_REMOTE_SMALL_YAW_GAIN;
+    if(delta_yaw_6020 > delta_max_6020) delta_yaw_6020 = delta_max_6020;
+    if(delta_yaw_6020 < delta_min_6020) delta_yaw_6020 = delta_min_6020;
 }
-float delta_yaw_6020 = yaw_6020_gain * g_cmd->delta_yaw_6020 * g->dt;
-float yaw_abs_now = g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle;
-float yaw_abs_target = yaw_abs_now;
-
-/* 摇杆无输入时抑制微小噪声，避免setpoint慢漂 */
-if (fabsf(delta_yaw_6020) < GIMBAL_YAW6020_INPUT_DEADBAND) {
-  delta_yaw_6020 = 0.0f;
-}
-
-if (g->param->travel.yaw_6020 > 0.0f) {
-  /* 边界方向判定：到边界时只允许朝边界内侧运动 */
-  if (yaw_abs_now >= g->limit.yaw_6020.max - GIMBAL_SCAN_YAW_EDGE_MARGIN && delta_yaw_6020 > 0.0f) {
-    delta_yaw_6020 = 0.0f;
-  }
-  if (yaw_abs_now <= g->limit.yaw_6020.min + GIMBAL_SCAN_YAW_EDGE_MARGIN && delta_yaw_6020 < 0.0f) {
-    delta_yaw_6020 = 0.0f;
-  }
-
-  yaw_abs_target = yaw_abs_now + delta_yaw_6020;
-  if (yaw_abs_target > g->limit.yaw_6020.max) yaw_abs_target = g->limit.yaw_6020.max;
-  if (yaw_abs_target < g->limit.yaw_6020.min) yaw_abs_target = g->limit.yaw_6020.min;
-
-  /* 直接用允许的电机角增量映射到欧拉角目标，避免CircleAdd累积导致回弹 */
-  g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw + (yaw_abs_target - yaw_abs_now);
-} else {
   CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw_6020, M_2PI);
-}
-
   // g->setpoint.eulr.yaw = g->setpoint.NUC_Yaw;
 
  /*处理大yaw控制命令，软件限位 - 使用电机绝对角度*/
  /*获得小YAW的中点位置，如果小YAW大于中点的一定范围，大YAW开始运动，
  跟随小YAW向相同方向运动，将遥控数据进行分配*/
 
- if (g_cmd->ctrl_mode == GIMBAL_MODE_REMOTE) {
-   float delta_yaw_4310 = -GIMBAL_REMOTE_BIG_YAW_SPEED_GAIN * g_cmd->delta_yaw_4310 * g->dt;
-   if (g->param->travel.yaw_6020 > 0.0f) {
-     float yaw_abs_now = g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle;
-     float dist_to_max = g->limit.yaw_6020.max - yaw_abs_now;
-     float dist_to_min = yaw_abs_now - g->limit.yaw_6020.min;
-     float edge_assist = 1.0f;
-     if (g_cmd->delta_yaw_6020 > 0.0f && dist_to_max < GIMBAL_REMOTE_EDGE_ASSIST_BAND) {
-       edge_assist += (GIMBAL_REMOTE_EDGE_ASSIST_BAND - dist_to_max) / GIMBAL_REMOTE_EDGE_ASSIST_BAND;
-     } else if (g_cmd->delta_yaw_6020 < 0.0f && dist_to_min < GIMBAL_REMOTE_EDGE_ASSIST_BAND) {
-       edge_assist += (GIMBAL_REMOTE_EDGE_ASSIST_BAND - dist_to_min) / GIMBAL_REMOTE_EDGE_ASSIST_BAND;
-     }
-     if (edge_assist < 1.0f) edge_assist = 1.0f;
-     if (edge_assist > 2.0f) edge_assist = 2.0f;
-     delta_yaw_4310 *= edge_assist;
-   }
-   if (g->param->travel.yaw_4310 > 0.0f) {
-     g->setpoint.yaw_4310 += delta_yaw_4310;
-     if (g->setpoint.yaw_4310 > g->limit.yaw_4310.max) g->setpoint.yaw_4310 = g->limit.yaw_4310.max;
-     if (g->setpoint.yaw_4310 < g->limit.yaw_4310.min) g->setpoint.yaw_4310 = g->limit.yaw_4310.min;
-   } else {
-     CircleAdd(&(g->setpoint.yaw_4310), delta_yaw_4310, M_2PI);
-   }
- }
+ /*小YAW中点*/
+ float small_yaw_center_offset = g->param->mech_zero.yaw_6020  + g->param->travel.yaw_6020* 0.5f ;
+ g->setpoint.yaw_4310=small_yaw_center_offset;
 
   /*处理大pitch控制命令*/
 float delta_pitch_4310 = 8.0f*g_cmd->delta_pitch_4310*g->dt;
@@ -479,8 +339,28 @@ switch (g_cmd->ctrl_mode) {
 break;
 
 case GIMBAL_MODE_SCAN:
-    g->setpoint.eulr.yaw = g->setpoint.eulr.yaw;
-    g->setpoint.eulr.pit = g->setpoint.eulr.pit;
+{
+    /* 扫描模式：小YAW持续旋转带动大YAW转动，pitch在限位间来回扫描 */
+
+    /* --- 小YAW持续旋转 --- */
+    float scan_yaw_delta = GIMBAL_SCAN_SMALL_YAW_SPEED * g->dt;
+    CircleAdd(&(g->setpoint.eulr.yaw), scan_yaw_delta, M_2PI);
+
+    /* --- Pitch增量式来回扫描 --- */
+    float pitch_pos = g->feedback.motor.pitch_4310_motor_feedback.rotor_abs_angle;
+
+    /* 到达下限位(1.83)附近，反转向上 */
+    if (pitch_pos >= (g->limit.pitch_4310.max - GIMBAL_SCAN_PITCH_EDGE_MARGIN)) {
+        g_scan_pitch_dir = -1.0f;
+    }
+    /* 到达上限位(0.97)附近，反转向下 */
+    if (pitch_pos <= 1.20f) {
+        g_scan_pitch_dir = 1.0f;
+    }
+
+    float scan_pitch_delta = GIMBAL_SCAN_PITCH_SPEED * g_scan_pitch_dir * g->dt;
+    CircleAdd(&(g->setpoint.eulr.pit), scan_pitch_delta, M_2PI);
+}
 break;
 
 case GIMBAL_MODE_AI:
@@ -603,3 +483,4 @@ void Gimbal_Output(Gimbal_t *g)
 
 
 
+
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index 16a6ed9..ada187c 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -125,6 +125,7 @@ typedef struct {
   float delta_pitch_4310;
   float delta_yaw_6020;
   GIMBAL_Ctrl_mode_t ctrl_mode;
+  uint8_t scan_enable; /* 1=AI无目标时扫描, 0=AI无目标时保持当前姿态 */
   float set_yaw; /*自瞄YAW目标值*/
   float set_pitch;/*自瞄PITCH目标值*/
   float yaw_vel; /*自瞄YAW角速度*/
diff --git a/User/task/ai.c b/User/task/ai.c
index 2a64c14..c2d47c0 100644
--- a/User/task/ai.c
+++ b/User/task/ai.c
@@ -1,6 +1,5 @@
 /*
     ai Task
-    
 */
 
 /* Includes ----------------------------------------------------------------- */
@@ -10,60 +9,55 @@
 #include "module/gimbal.h"
 /* USER INCLUDE END */
 
-/* Private typedef ---------------------------------------------------------- */
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
-/* USER STRUCT BEGIN */
-PackageAI_t ai;
 PackageMCU_t mcu;
 PackageReferee_t ref_pkg;
 AI_result_t ai_result;
 Referee_ForAI_t ref_for_ai;
 AHRS_Quaternion_t quat;
 Gimbal_feedback_t gimbal_motor;
-PackageMCU_t shoot_mcu_package; /* 新增的 ai 数据包 主要是给自瞄发送射击数量*/
-/* USER STRUCT END */
+PackageMCU_t shoot_mcu_package;
 
-/* Private function --------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
 void Task_ai(void *argument) {
-  (void)argument; /* 未使用argument，消除警告 */
+  (void)argument;
 
-  
-  /* 计算任务运行到指定频率需要等待的tick数 */
   const uint32_t delay_tick = osKernelGetTickFreq() / AI_FREQ;
+  osDelay(AI_INIT_DELAY);
 
-  osDelay(AI_INIT_DELAY); /* 延时一段时间再开启任务 */
+  /* 初始化AI通信：注册IDLE回调 + 启动DMA接收 */
+  AI_Init();
 
-  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
-  /* USER CODE INIT BEGIN */
+  uint32_t tick = osKernelGetTickCount();
 
-  /* USER CODE INIT END */
-  
   while (1) {
-    tick += delay_tick; /* 计算下一个唤醒时刻 */
-    /* USER CODE BEGIN */
-    osMessageQueueGet(task_runtime.msgq.gimbal.ai.quat, &quat, NULL, 0);  
-    osMessageQueueGet(task_runtime.msgq.gimbal.ai.feedback, &gimbal_motor, NULL, 0);
-		osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count, &shoot_mcu_package, NULL, 0);
-    osMessageQueueGet(task_runtime.msgq.referee.ai, &ref_for_ai, NULL, 0);
-    MCU_Send(&mcu,&gimbal_motor,&quat);  
-    mcu.data.bullet_count=shoot_mcu_package.data.bullet_count; /* 从 shoot 任务获取射击数量并放入 mcu 数据包中 */                           
-		MCU_StartSend(&mcu);
+    tick += delay_tick;
 
-    if (REF_Send(&ref_pkg, &ref_for_ai.robot_status, &ref_for_ai.game_status) == DEVICE_OK) {
+    /* 获取其他任务传来的数据 */
+    osMessageQueueGet(task_runtime.msgq.gimbal.ai.quat, &quat, NULL, 0);
+    osMessageQueueGet(task_runtime.msgq.gimbal.ai.feedback, &gimbal_motor, NULL, 0);
+    osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count, &shoot_mcu_package, NULL, 0);
+    osMessageQueueGet(task_runtime.msgq.referee.ai, &ref_for_ai, NULL, 0);
+
+    /* 发送MCU数据给上位机 */
+    MCU_Send(&mcu, &gimbal_motor, &quat);
+    mcu.data.bullet_count = shoot_mcu_package.data.bullet_count;
+    MCU_StartSend(&mcu);
+
+    /* 发送裁判系统数据给上位机 */
+    if (REF_Send(&ref_pkg, &ref_for_ai.robot_status, &ref_for_ai.game_status) == 0) {
       REF_StartSend(&ref_pkg);
     }
-		
-		AI_StartReceiving(&ai);		
-		AI_Get_NUC(&ai,&ai_result);		
+
+    /* 非阻塞获取上位机最新数据（IDLE回调已在中断中解析） */
+    AI_GetLatest(&ai_result);
+
+    /* 分发AI结果给各任务 */
     osMessageQueueReset(task_runtime.msgq.gimbal.ai.g_cmd);
-    osMessageQueuePut(task_runtime.msgq.gimbal.ai.g_cmd, &ai_result, 0, 0);	
+    osMessageQueuePut(task_runtime.msgq.gimbal.ai.g_cmd, &ai_result, 0, 0);
     osMessageQueuePut(task_runtime.msgq.shoot.ai.s_cmd, &ai_result, 0, 0);
-    osMessageQueuePut(task_runtime.msgq.navi.c_cmd, &ai_result, 0, 0); /* 将 ai_result 中的射击命令布尔值发送给 shoot 任务 */
-    /* USER CODE END */
-    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+    osMessageQueuePut(task_runtime.msgq.navi.c_cmd, &ai_result, 0, 0);
+
+    osDelayUntil(tick);
   }
-  
-}
\ No newline at end of file
+}
diff --git a/User/task/chassis.c b/User/task/chassis.c
index c20b325..322d1a5 100644
--- a/User/task/chassis.c
+++ b/User/task/chassis.c
@@ -49,7 +49,7 @@ chassis_init(&chassis,&Config_GetRobotParam()->chassis,CHASSIS_FREQ);
 
 osMessageQueueGet(task_runtime.msgq.navi.c_cmd, &c_cmd_ai_result, NULL, 0);
 
- osMessageQueueGet(task_runtime.msgq.gimbal.yaw6020,&chassis.motorfeedback.gimbal_yaw_encoder,NULL,0);
+ osMessageQueueGet(task_runtime.msgq.gimbal.yaw4310,&chassis.motorfeedback.gimbal_yaw_encoder,NULL,0);
     /*接受cmd任务数据*/
     if(osMessageQueueGet(task_runtime.msgq.chassis.cmd, &cmd_chassis, NULL, 0)==osOK)
     {
diff --git a/User/task/gimbal.c b/User/task/gimbal.c
index 750f78b..d4b8051 100644
--- a/User/task/gimbal.c
+++ b/User/task/gimbal.c
@@ -48,16 +48,16 @@ void Task_gimbal(void *argument) {
     Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
 
 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){
+    /* 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){
     //   final_gimbal_cmd.set_pitch =gimbal_imu.eulr.rol;
-    //   final_gimbal_cmd.set_yaw=gimbal_imu.eulr.yaw;			
-		// 	}
-		// 	if(ai_gimbal_cmd.mode==2){
+    //   final_gimbal_cmd.set_yaw=gimbal_imu.eulr.yaw;      
+    //  }
+    //  if(ai_gimbal_cmd.mode==2){
     //   final_gimbal_cmd.set_pitch=ai_gimbal_cmd.gimbal_t.setpoint.pit;
     //   final_gimbal_cmd.set_yaw=ai_gimbal_cmd.gimbal_t.setpoint.yaw;
-		// 	}   
+    //  }   
     // }       
 
 
@@ -66,9 +66,15 @@ 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;
-        cmd_gimbal.ctrl_mode = GIMBAL_MODE_SCAN;
+        if (cmd_gimbal.scan_enable) {
+          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 */
+        }
       } else {
+        /* AI有目标，填充自瞄数据 */
         cmd_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
         cmd_gimbal.ctrl_mode = GIMBAL_MODE_AI;
         cmd_gimbal.set_pitch = ai_gimbal_result_cmd.gimbal_t.setpoint.pit;
@@ -82,9 +88,9 @@ if (cmd_gimbal.ctrl_mode == GIMBAL_MODE_AI) {
 
 Gimbal_UpdateFeedback(&gimbal);
 
-osMessageQueueReset(task_runtime.msgq.gimbal.yaw6020);
+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 */
-osMessageQueuePut(task_runtime.msgq.gimbal.yaw6020, &gimbal.feedback.motor.yaw_4310_motor_feedback, 0, 0);
+osMessageQueuePut(task_runtime.msgq.gimbal.yaw4310, &gimbal.feedback.motor.yaw_4310_motor_feedback, 0, 0);
 
 osMessageQueueReset(task_runtime.msgq.gimbal.ai.feedback);
 osMessageQueuePut(task_runtime.msgq.gimbal.ai.feedback, &gimbal.feedback, 0, 0);
@@ -99,4 +105,4 @@ Gimbal_Output(&gimbal);
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
   
-}
\ No newline at end of file
+}
diff --git a/User/task/init.c b/User/task/init.c
index b9d23e3..d6091be 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -60,6 +60,7 @@ void Task_Init(void *argument) {
   task_runtime.msgq.gimbal.imu = osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
   task_runtime.msgq.gimbal.cmd = osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
   task_runtime.msgq.gimbal.yaw6020 = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL);
+  task_runtime.msgq.gimbal.yaw4310 = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL);
   task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t),NULL);
   task_runtime.msgq.gimbal.ai.feedback = osMessageQueueNew(2u, sizeof(Gimbal_feedback_t),NULL);
   task_runtime.msgq.gimbal.ai.g_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL);
diff --git a/User/task/user_task.h b/User/task/user_task.h
index 4495933..24a3696 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -87,6 +87,7 @@ typedef struct {
                 osMessageQueueId_t imu;
                 osMessageQueueId_t cmd;
                 osMessageQueueId_t yaw6020; /* 新增的 yaw_6020 消息队列 主要是给底盘传6020位置的反馈*/
+                osMessageQueueId_t yaw4310; /* 大YAW 4310反馈，给底盘跟随用 */
                 struct{
                osMessageQueueId_t quat;                  
                 osMessageQueueId_t feedback;