diff --git a/User/device/motor_dm.c b/User/device/motor_dm.c
index bbbef2c..77ae401 100644
--- a/User/device/motor_dm.c
+++ b/User/device/motor_dm.c
@@ -322,9 +322,15 @@ int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param) {
         return DEVICE_ERR;
     }
     
+    bool was_online = motor->motor.header.online;
     motor->motor.header.online = true;
     motor->motor.header.last_online_time = BSP_TIME_Get();
     MOTOR_DM_ParseFeedbackFrame(motor, rx_msg.data);
+
+    /* 如果刚从掉线状态恢复，自动补发使能指令，解决上电时序和裁判系统断电重连不使能的问题 */
+    if (!was_online) {
+        MOTOR_DM_Enable(param);
+    }
     
     return DEVICE_OK;
 }
diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c
index f404a67..32de059 100644
--- a/User/module/cmd/cmd.c
+++ b/User/module/cmd/cmd.c
@@ -59,7 +59,7 @@ static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
   }
   
   /* 左摇杆控制云台 */
-  ctx->output.gimbal.cmd.delta_yaw = -ctx->input.rc.joy_left.x * 4.0f;
+  ctx->output.gimbal.cmd.delta_yaw = -ctx->input.rc.joy_left.x * 2.0f;
   ctx->output.gimbal.cmd.delta_pit = -ctx->input.rc.joy_left.y * 2.5f;
 }
 #endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL */
diff --git a/User/module/config.c b/User/module/config.c
index 1f96d6a..cdae811 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -286,6 +286,7 @@ Config_RobotParam_t robot_config = {
         },
         .heatControl={
             .enable=true,
+            .safe_shots=1,    // 安全出弹余量
             .nmax=2.0f,      // 最大射频 Hz
             .Hwarn=200.0f,    // 热量预警值
             .Hsatu=100.0f,    // 热量饱和值
diff --git a/User/module/shoot.c b/User/module/shoot.c
index bff3e4f..d4b9fbd 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -41,7 +41,7 @@ void Task(void *argument) {
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 #define MAX_FRIC_RPM 7000.0f
-#define MAX_TRIG_RPM 1500.0f//这里可能也会影响最高发射频率，待测试
+#define MAX_TRIG_RPM 4000.0f//这里可能也会影响最高发射频率，待测试
 
 /* 发射检测参数 */
 #define SHOT_DETECT_RPM_DROP_THRESHOLD 100.0f  /* 摩擦轮转速下降阈值，单位rpm */
@@ -512,8 +512,13 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
     /* 根据热量控制计算实际射频 */
     float actual_freq = Shoot_CaluFreqByHeat(s);
     
+    /* 检查可发射弹丸数是否满足安全余量 */
+    if (s->param->heatControl.enable && s->heatcontrol.shots_available <= s->param->heatControl.safe_shots) {
+        actual_freq = 0.0f; /* 禁止发弹 */
+    }
+
     float dt = s->timer.now - s->var_trig.time_lastShoot;
-	float dpos;
+	  float dpos;
     dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI);
     
     /* 使用热量控制计算出的射频，而不是配置的固定射频 */
@@ -966,7 +971,7 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
     s->timer.now = BSP_TIME_Get_us() / 1000000.0f;
     s->timer.dt = (BSP_TIME_Get_us() - s->timer.lask_wakeup) / 1000000.0f;
     s->timer.lask_wakeup = BSP_TIME_Get_us();
-    // Shoot_CaluTargetRPM(s,233);
+    Shoot_CaluTargetRPM(s,233);
 
     /* 运行热量检测状态机 */
     // Shoot_HeatDetectionFSM(s);
diff --git a/User/module/shoot.h b/User/module/shoot.h
index c41a856..c729e9e 100644
--- a/User/module/shoot.h
+++ b/User/module/shoot.h
@@ -164,6 +164,7 @@ typedef struct {
   }jamDetection;/* 卡弹检测参数 */
   struct {
     bool enable; /* 是否启用热量控制 */
+    uint16_t safe_shots;/* 安全余量，当shots_available小于等于该值时禁止发弹 */
     float nmax;//最大射频
     float Hwarn;//热量预警值
     float Hsatu;//热量饱和值
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index 84cfed6..6dbe54a 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -66,14 +66,14 @@ void Task_ctrl_chassis(void *argument) {
                         : 500.0f;
     Chassis_Power_Control(&chassis, power_limit);
     
-    // Chassis_Output(&chassis);
+    Chassis_Output(&chassis);
 
 
     track.middle_val.seata=chassis.feedback.encoder_gimbalYawMotor-chassis.mech_zero;
     Track_UpdateFeedback(&track);
     Track_Control(&track, &track_cmd );
     // Track_AutoControl(&track,&chassis);
-    // Track_Output(&track);
+    Track_Output(&track);
     
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */