diff --git a/MDK-ARM/Infantry.uvguix.yunha b/MDK-ARM/Infantry.uvguix.yunha
index 64fb2c3..c3359e1 100644
--- a/MDK-ARM/Infantry.uvguix.yunha
+++ b/MDK-ARM/Infantry.uvguix.yunha
@@ -70,7 +70,7 @@
       <WinId>466</WinId>
       <ViewName>Source Browser</ViewName>
       <UserString>500</UserString>
-      <TableColWidths>166</TableColWidths>
+      <TableColWidths>300</TableColWidths>
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@@ -3606,9 +3606,9 @@
       <ActiveTab>0</ActiveTab>
       <Doc>
         <Name>..\User\module\config.c</Name>
-        <ColumnNumber>22</ColumnNumber>
-        <TopLine>220</TopLine>
-        <CurrentLine>228</CurrentLine>
+        <ColumnNumber>33</ColumnNumber>
+        <TopLine>157</TopLine>
+        <CurrentLine>167</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3651,9 +3651,9 @@
       </Doc>
       <Doc>
         <Name>..\User\module\gimbal.c</Name>
-        <ColumnNumber>27</ColumnNumber>
-        <TopLine>413</TopLine>
-        <CurrentLine>515</CurrentLine>
+        <ColumnNumber>52</ColumnNumber>
+        <TopLine>495</TopLine>
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         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
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@@ -3661,7 +3661,7 @@
       <Doc>
         <Name>..\User\module\remote_cmd.c</Name>
         <ColumnNumber>1</ColumnNumber>
-        <TopLine>1</TopLine>
+        <TopLine>7</TopLine>
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@@ -3669,9 +3669,9 @@
       </Doc>
       <Doc>
         <Name>..\User\module\shoot.c</Name>
-        <ColumnNumber>79</ColumnNumber>
-        <TopLine>369</TopLine>
-        <CurrentLine>385</CurrentLine>
+        <ColumnNumber>60</ColumnNumber>
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@@ -3687,7 +3687,7 @@
       </Doc>
       <Doc>
         <Name>..\User\task\shoot_ctrl.c</Name>
-        <ColumnNumber>17</ColumnNumber>
+        <ColumnNumber>18</ColumnNumber>
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@@ -3696,7 +3696,7 @@
       </Doc>
       <Doc>
         <Name>..\User\task\remote.c</Name>
-        <ColumnNumber>24</ColumnNumber>
+        <ColumnNumber>26</ColumnNumber>
         <TopLine>28</TopLine>
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         <Folding>1</Folding>
@@ -3705,7 +3705,7 @@
       </Doc>
       <Doc>
         <Name>..\User\module\chassis.c</Name>
-        <ColumnNumber>19</ColumnNumber>
+        <ColumnNumber>17</ColumnNumber>
         <TopLine>10</TopLine>
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         <Folding>1</Folding>
@@ -3741,7 +3741,7 @@
       </Doc>
       <Doc>
         <Name>..\User\module\gimbal.h</Name>
-        <ColumnNumber>18</ColumnNumber>
+        <ColumnNumber>19</ColumnNumber>
         <TopLine>121</TopLine>
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         <Folding>1</Folding>
@@ -3786,7 +3786,7 @@
       </Doc>
       <Doc>
         <Name>..\User\component\pid.c</Name>
-        <ColumnNumber>19</ColumnNumber>
+        <ColumnNumber>18</ColumnNumber>
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diff --git a/MDK-ARM/Infantry.uvoptx b/MDK-ARM/Infantry.uvoptx
index fe68653..eb8f9d3 100644
--- a/MDK-ARM/Infantry.uvoptx
+++ b/MDK-ARM/Infantry.uvoptx
@@ -135,7 +135,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
diff --git a/MDK-ARM/Infantry/Infantry.axf b/MDK-ARM/Infantry/Infantry.axf
index 65a7b07..bf963d5 100644
Binary files a/MDK-ARM/Infantry/Infantry.axf and b/MDK-ARM/Infantry/Infantry.axf differ
diff --git a/MDK-ARM/Infantry/Infantry.build_log.htm b/MDK-ARM/Infantry/Infantry.build_log.htm
index 2de4ca0..e5428f3 100644
--- a/MDK-ARM/Infantry/Infantry.build_log.htm
+++ b/MDK-ARM/Infantry/Infantry.build_log.htm
@@ -33,10 +33,6 @@ Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Infantry\i2c.o
 Note: source file '..\User\bsp\spi.c' - object file renamed from 'Infantry\spi.o' to 'Infantry\spi_1.o'.
 Note: source file '..\User\task\dr16.c' - object file renamed from 'Infantry\dr16.o' to 'Infantry\dr16_1.o'.
 Note: source file '..\User\task\ai.c' - object file renamed from 'Infantry\ai.o' to 'Infantry\ai_1.o'.
-compiling config.c...
-linking...
-Program Size: Code=54672 RO-data=1680 RW-data=832 ZI-data=126624  
-FromELF: creating hex file...
 "Infantry\Infantry.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
@@ -61,7 +57,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:01
 </pre>
 </body>
 </html>
diff --git a/MDK-ARM/Infantry/Infantry.hex b/MDK-ARM/Infantry/Infantry.hex
index ef75acc..6c94d85 100644
--- a/MDK-ARM/Infantry/Infantry.hex
+++ b/MDK-ARM/Infantry/Infantry.hex
@@ -1,8 +1,8 @@
 :020000040800F2
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@@ -12,7 +12,7 @@
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@@ -20,14 +20,14 @@
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@@ -93,21 +93,21 @@
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@@ -280,17 +280,17 @@
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@@ -327,10 +327,10 @@
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@@ -349,14 +349,14 @@
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diff --git a/MDK-ARM/Infantry/Infantry.htm b/MDK-ARM/Infantry/Infantry.htm
index 276a777..a06eed9 100644
--- a/MDK-ARM/Infantry/Infantry.htm
+++ b/MDK-ARM/Infantry/Infantry.htm
@@ -3,7 +3,7 @@
 <title>Static Call Graph - [Infantry\Infantry.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image Infantry\Infantry.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Fri Jan  9 14:24:31 2026
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Fri Jan  9 15:52:04 2026
 <BR><P>
 <H3>Maximum Stack Usage =        304 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@@ -2485,7 +2485,7 @@ Global Symbols
 <BR><BR>[Called By]<UL><LI><a href="#[1ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_RunningFSM
 </UL>
 
-<P><STRONG><a name="[1ac]"></a>Shoot_RunningFSM</STRONG> (Thumb, 1236 bytes, Stack size 88 bytes, shoot.o(.text.Shoot_RunningFSM))
+<P><STRONG><a name="[1ac]"></a>Shoot_RunningFSM</STRONG> (Thumb, 1212 bytes, Stack size 88 bytes, shoot.o(.text.Shoot_RunningFSM))
 <BR><BR>[Stack]<UL><LI>Max Depth = 232<LI>Call Chain = Shoot_RunningFSM &rArr; MOTOR_RM_Ctrl &rArr; BSP_CAN_TransmitStdDataFrame &rArr; BSP_CAN_Transmit &rArr; BSP_CAN_TxQueuePush
 </UL>
 <BR>[Calls]<UL><LI><a href="#[1b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ScaleSumTo1
diff --git a/MDK-ARM/Infantry/Infantry.map b/MDK-ARM/Infantry/Infantry.map
index 4f13953..f43df27 100644
--- a/MDK-ARM/Infantry/Infantry.map
+++ b/MDK-ARM/Infantry/Infantry.map
@@ -6568,307 +6568,307 @@ Image Symbol Table
     [Anonymous Symbol]                       0x080077f0   Section        0  shoot.o(.text.Shoot_ResetIntegral)
     [Anonymous Symbol]                       0x08007838   Section        0  shoot.o(.text.Shoot_ResetOutput)
     [Anonymous Symbol]                       0x0800786c   Section        0  shoot.o(.text.Shoot_RunningFSM)
-    [Anonymous Symbol]                       0x08007d40   Section        0  shoot.o(.text.Shoot_SetMode)
-    [Anonymous Symbol]                       0x08007d50   Section        0  shoot.o(.text.Shoot_UpdateFeedback)
-    [Anonymous Symbol]                       0x08007f24   Section        0  freertos.o(.text.StartDefaultTask)
-    SysTick_Config                           0x08007f31   Thumb Code    46  stm32f4xx_hal_cortex.o(.text.SysTick_Config)
-    [Anonymous Symbol]                       0x08007f30   Section        0  stm32f4xx_hal_cortex.o(.text.SysTick_Config)
-    [Anonymous Symbol]                       0x08007f60   Section        0  stm32f4xx_it.o(.text.SysTick_Handler)
-    [Anonymous Symbol]                       0x08007f74   Section        0  main.o(.text.SystemClock_Config)
-    [Anonymous Symbol]                       0x08008018   Section        0  system_stm32f4xx.o(.text.SystemInit)
-    [Anonymous Symbol]                       0x0800802c   Section        0  stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig)
-    [Anonymous Symbol]                       0x08008158   Section        0  stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd)
-    TIM_OC1_SetConfig                        0x0800817d   Thumb Code   100  stm32f4xx_hal_tim.o(.text.TIM_OC1_SetConfig)
-    [Anonymous Symbol]                       0x0800817c   Section        0  stm32f4xx_hal_tim.o(.text.TIM_OC1_SetConfig)
-    [Anonymous Symbol]                       0x080081e0   Section        0  stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig)
-    TIM_OC3_SetConfig                        0x0800824d   Thumb Code   104  stm32f4xx_hal_tim.o(.text.TIM_OC3_SetConfig)
-    [Anonymous Symbol]                       0x0800824c   Section        0  stm32f4xx_hal_tim.o(.text.TIM_OC3_SetConfig)
-    TIM_OC4_SetConfig                        0x080082b5   Thumb Code    78  stm32f4xx_hal_tim.o(.text.TIM_OC4_SetConfig)
-    [Anonymous Symbol]                       0x080082b4   Section        0  stm32f4xx_hal_tim.o(.text.TIM_OC4_SetConfig)
-    [Anonymous Symbol]                       0x08008304   Section        0  init.o(.text.Task_Init)
-    [Anonymous Symbol]                       0x08008428   Section        0  ai_1.o(.text.Task_ai)
-    [Anonymous Symbol]                       0x080084c8   Section        0  atti_esti.o(.text.Task_atti_esti)
-    [Anonymous Symbol]                       0x08008730   Section        0  chassis_ctrl.o(.text.Task_chassis_ctrl)
-    [Anonymous Symbol]                       0x08008770   Section        0  dr16_1.o(.text.Task_dr16)
-    [Anonymous Symbol]                       0x080087f0   Section        0  gimbal_ctrl.o(.text.Task_gimbal_ctrl)
-    [Anonymous Symbol]                       0x08008948   Section        0  remote.o(.text.Task_remote)
-    [Anonymous Symbol]                       0x080089f8   Section        0  shoot_ctrl.o(.text.Task_shoot_ctrl)
-    UART_DMAAbortOnError                     0x08008a8d   Thumb Code    14  stm32f4xx_hal_uart.o(.text.UART_DMAAbortOnError)
-    [Anonymous Symbol]                       0x08008a8c   Section        0  stm32f4xx_hal_uart.o(.text.UART_DMAAbortOnError)
-    UART_DMAError                            0x08008a9d   Thumb Code    76  stm32f4xx_hal_uart.o(.text.UART_DMAError)
-    [Anonymous Symbol]                       0x08008a9c   Section        0  stm32f4xx_hal_uart.o(.text.UART_DMAError)
-    UART_DMAReceiveCplt                      0x08008ae9   Thumb Code   132  stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt)
-    [Anonymous Symbol]                       0x08008ae8   Section        0  stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt)
-    UART_DMARxHalfCplt                       0x08008b6d   Thumb Code    30  stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt)
-    [Anonymous Symbol]                       0x08008b6c   Section        0  stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt)
-    UART_DMATransmitCplt                     0x08008b8d   Thumb Code    64  stm32f4xx_hal_uart.o(.text.UART_DMATransmitCplt)
-    [Anonymous Symbol]                       0x08008b8c   Section        0  stm32f4xx_hal_uart.o(.text.UART_DMATransmitCplt)
-    UART_DMATxHalfCplt                       0x08008bcd   Thumb Code    10  stm32f4xx_hal_uart.o(.text.UART_DMATxHalfCplt)
-    [Anonymous Symbol]                       0x08008bcc   Section        0  stm32f4xx_hal_uart.o(.text.UART_DMATxHalfCplt)
-    UART_EndRxTransfer                       0x08008bd9   Thumb Code    80  stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer)
-    [Anonymous Symbol]                       0x08008bd8   Section        0  stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer)
-    UART_EndTransmit_IT                      0x08008c29   Thumb Code    24  stm32f4xx_hal_uart.o(.text.UART_EndTransmit_IT)
-    [Anonymous Symbol]                       0x08008c28   Section        0  stm32f4xx_hal_uart.o(.text.UART_EndTransmit_IT)
-    UART_EndTxTransfer                       0x08008c41   Thumb Code    28  stm32f4xx_hal_uart.o(.text.UART_EndTxTransfer)
-    [Anonymous Symbol]                       0x08008c40   Section        0  stm32f4xx_hal_uart.o(.text.UART_EndTxTransfer)
-    UART_Get                                 0x08008c5d   Thumb Code    52  uart.o(.text.UART_Get)
-    [Anonymous Symbol]                       0x08008c5c   Section        0  uart.o(.text.UART_Get)
-    UART_Receive_IT                          0x08008c91   Thumb Code   200  stm32f4xx_hal_uart.o(.text.UART_Receive_IT)
-    [Anonymous Symbol]                       0x08008c90   Section        0  stm32f4xx_hal_uart.o(.text.UART_Receive_IT)
-    UART_SetConfig                           0x08008d59   Thumb Code   220  stm32f4xx_hal_uart.o(.text.UART_SetConfig)
-    [Anonymous Symbol]                       0x08008d58   Section        0  stm32f4xx_hal_uart.o(.text.UART_SetConfig)
-    [Anonymous Symbol]                       0x08008e34   Section        0  stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
-    [Anonymous Symbol]                       0x08008ee0   Section        0  stm32f4xx_hal_uart.o(.text.UART_Start_Receive_IT)
-    UART_Transmit_IT                         0x08008f15   Thumb Code    82  stm32f4xx_hal_uart.o(.text.UART_Transmit_IT)
-    [Anonymous Symbol]                       0x08008f14   Section        0  stm32f4xx_hal_uart.o(.text.UART_Transmit_IT)
-    [Anonymous Symbol]                       0x08008f68   Section        0  stm32f4xx_it.o(.text.USART1_IRQHandler)
-    [Anonymous Symbol]                       0x08008f80   Section        0  stm32f4xx_it.o(.text.USART2_IRQHandler)
-    [Anonymous Symbol]                       0x08008f90   Section        0  stm32f4xx_it.o(.text.USART6_IRQHandler)
-    [Anonymous Symbol]                       0x08008fa8   Section        0  stm32f4xx_it.o(.text.UsageFault_Handler)
-    __ARM_isfinitef                          0x08008fad   Thumb Code    14  filter.o(.text.__ARM_isfinitef)
-    [Anonymous Symbol]                       0x08008fac   Section        0  filter.o(.text.__ARM_isfinitef)
-    __ARM_isfinitef                          0x08008fbd   Thumb Code    14  pid.o(.text.__ARM_isfinitef)
-    [Anonymous Symbol]                       0x08008fbc   Section        0  pid.o(.text.__ARM_isfinitef)
-    __ARM_isinff                             0x08008fcd   Thumb Code    16  filter.o(.text.__ARM_isinff)
-    [Anonymous Symbol]                       0x08008fcc   Section        0  filter.o(.text.__ARM_isinff)
-    __NVIC_DisableIRQ                        0x08008fdd   Thumb Code    40  stm32f4xx_hal_cortex.o(.text.__NVIC_DisableIRQ)
-    [Anonymous Symbol]                       0x08008fdc   Section        0  stm32f4xx_hal_cortex.o(.text.__NVIC_DisableIRQ)
-    __NVIC_EnableIRQ                         0x08009005   Thumb Code    32  stm32f4xx_hal_cortex.o(.text.__NVIC_EnableIRQ)
-    [Anonymous Symbol]                       0x08009004   Section        0  stm32f4xx_hal_cortex.o(.text.__NVIC_EnableIRQ)
-    __NVIC_GetPriorityGrouping               0x08009025   Thumb Code    16  stm32f4xx_hal_cortex.o(.text.__NVIC_GetPriorityGrouping)
-    [Anonymous Symbol]                       0x08009024   Section        0  stm32f4xx_hal_cortex.o(.text.__NVIC_GetPriorityGrouping)
-    __NVIC_SetPriority                       0x08009035   Thumb Code    34  stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriority)
-    [Anonymous Symbol]                       0x08009034   Section        0  stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriority)
-    __NVIC_SetPriority                       0x08009059   Thumb Code    14  cmsis_os2.o(.text.__NVIC_SetPriority)
-    [Anonymous Symbol]                       0x08009058   Section        0  cmsis_os2.o(.text.__NVIC_SetPriority)
-    __NVIC_SetPriorityGrouping               0x08009069   Thumb Code    32  stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriorityGrouping)
-    [Anonymous Symbol]                       0x08009068   Section        0  stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriorityGrouping)
-    copysignf                                0x08009089   Thumb Code    22  ahrs.o(.text.copysignf)
-    [Anonymous Symbol]                       0x08009088   Section        0  ahrs.o(.text.copysignf)
-    [Anonymous Symbol]                       0x080090a0   Section        0  tasks.o(.text.eTaskGetState)
-    float_to_uint                            0x0800913d   Thumb Code    44  motor_dm.o(.text.float_to_uint)
-    [Anonymous Symbol]                       0x0800913c   Section        0  motor_dm.o(.text.float_to_uint)
-    [Anonymous Symbol]                       0x08009168   Section        0  main.o(.text.main)
-    [Anonymous Symbol]                       0x080091ac   Section        0  gimbal.o(.text.major_yaw_Control)
-    motor_imu_offset                         0x080091cd   Thumb Code    68  gimbal.o(.text.motor_imu_offset)
-    [Anonymous Symbol]                       0x080091cc   Section        0  gimbal.o(.text.motor_imu_offset)
-    [Anonymous Symbol]                       0x08009210   Section        0  cmsis_os2.o(.text.osDelay)
-    [Anonymous Symbol]                       0x08009230   Section        0  cmsis_os2.o(.text.osDelayUntil)
-    [Anonymous Symbol]                       0x08009264   Section        0  cmsis_os2.o(.text.osKernelGetState)
-    [Anonymous Symbol]                       0x0800928c   Section        0  cmsis_os2.o(.text.osKernelGetTickCount)
-    [Anonymous Symbol]                       0x080092a0   Section        0  cmsis_os2.o(.text.osKernelGetTickFreq)
-    [Anonymous Symbol]                       0x080092a8   Section        0  cmsis_os2.o(.text.osKernelInitialize)
-    [Anonymous Symbol]                       0x080092d0   Section        0  cmsis_os2.o(.text.osKernelLock)
-    [Anonymous Symbol]                       0x080092fc   Section        0  cmsis_os2.o(.text.osKernelStart)
-    [Anonymous Symbol]                       0x08009330   Section        0  cmsis_os2.o(.text.osKernelUnlock)
-    [Anonymous Symbol]                       0x08009374   Section        0  cmsis_os2.o(.text.osMessageQueueGet)
-    [Anonymous Symbol]                       0x080093fc   Section        0  cmsis_os2.o(.text.osMessageQueueNew)
-    [Anonymous Symbol]                       0x0800949c   Section        0  cmsis_os2.o(.text.osMessageQueuePut)
-    [Anonymous Symbol]                       0x0800952c   Section        0  cmsis_os2.o(.text.osMessageQueueReset)
-    [Anonymous Symbol]                       0x08009550   Section        0  cmsis_os2.o(.text.osMutexAcquire)
-    [Anonymous Symbol]                       0x080095a4   Section        0  cmsis_os2.o(.text.osMutexNew)
-    [Anonymous Symbol]                       0x0800963c   Section        0  cmsis_os2.o(.text.osMutexRelease)
-    [Anonymous Symbol]                       0x0800967c   Section        0  cmsis_os2.o(.text.osThreadFlagsSet)
-    [Anonymous Symbol]                       0x080096fc   Section        0  cmsis_os2.o(.text.osThreadFlagsWait)
-    [Anonymous Symbol]                       0x080097b8   Section        0  cmsis_os2.o(.text.osThreadGetId)
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+    x$fpl$usenofp                            0x0800d6fe   Section        0  usenofp.o(x$fpl$usenofp)
+    atanhi                                   0x0800d700   Data          32  atan.o(.constdata)
+    .constdata                               0x0800d700   Section      152  atan.o(.constdata)
+    atanlo                                   0x0800d720   Data          32  atan.o(.constdata)
+    aTodd                                    0x0800d740   Data          40  atan.o(.constdata)
+    aTeven                                   0x0800d768   Data          48  atan.o(.constdata)
+    .constdata                               0x0800d798   Section        8  qnan.o(.constdata)
+    twooverpi                                0x0800d7a0   Data          32  rredf.o(.constdata)
+    .constdata                               0x0800d7a0   Section       32  rredf.o(.constdata)
+    GPIO_Map                                 0x0800d7d8   Data          56  gpio_1.o(.rodata.GPIO_Map)
+    [Anonymous Symbol]                       0x0800d7d8   Section        0  gpio_1.o(.rodata.GPIO_Map)
+    crc16_tab                                0x0800d930   Data         512  crc16.o(.rodata.crc16_tab)
+    [Anonymous Symbol]                       0x0800d930   Section        0  crc16.o(.rodata.crc16_tab)
+    imu_temp_ctrl_pid_param                  0x0800db54   Data          32  atti_esti.o(.rodata.imu_temp_ctrl_pid_param)
+    [Anonymous Symbol]                       0x0800db54   Section        0  atti_esti.o(.rodata.imu_temp_ctrl_pid_param)
+    [Anonymous Symbol]                       0x0800db74   Section        0  freertos.o(.rodata.str1.1)
+    [Anonymous Symbol]                       0x0800db80   Section        0  user_task.o(.rodata.str1.1)
     GPIO_Callback                            0x20000330   Data          64  gpio_1.o(.bss.GPIO_Callback)
     [Anonymous Symbol]                       0x20000330   Section        0  gpio_1.o(.bss.GPIO_Callback)
     HAL_RCC_CAN1_CLK_ENABLED                 0x20000370   Data           4  can.o(.bss.HAL_RCC_CAN1_CLK_ENABLED)
@@ -7419,185 +7419,185 @@ Image Symbol Table
     Shoot_ResetCalu                          0x08007759   Thumb Code   152  shoot.o(.text.Shoot_ResetCalu)
     Shoot_ResetIntegral                      0x080077f1   Thumb Code    70  shoot.o(.text.Shoot_ResetIntegral)
     Shoot_ResetOutput                        0x08007839   Thumb Code    50  shoot.o(.text.Shoot_ResetOutput)
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-    Shoot_SetMode                            0x08007d41   Thumb Code    14  shoot.o(.text.Shoot_SetMode)
-    Shoot_UpdateFeedback                     0x08007d51   Thumb Code   468  shoot.o(.text.Shoot_UpdateFeedback)
-    StartDefaultTask                         0x08007f25   Thumb Code    12  freertos.o(.text.StartDefaultTask)
-    SysTick_Handler                          0x08007f61   Thumb Code    20  stm32f4xx_it.o(.text.SysTick_Handler)
-    SystemClock_Config                       0x08007f75   Thumb Code   164  main.o(.text.SystemClock_Config)
-    SystemInit                               0x08008019   Thumb Code    18  system_stm32f4xx.o(.text.SystemInit)
-    TIM_Base_SetConfig                       0x0800802d   Thumb Code   300  stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig)
-    TIM_CCxChannelCmd                        0x08008159   Thumb Code    36  stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd)
-    TIM_OC2_SetConfig                        0x080081e1   Thumb Code   106  stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig)
-    Task_Init                                0x08008305   Thumb Code   292  init.o(.text.Task_Init)
-    Task_ai                                  0x08008429   Thumb Code   160  ai_1.o(.text.Task_ai)
-    Task_atti_esti                           0x080084c9   Thumb Code   612  atti_esti.o(.text.Task_atti_esti)
-    Task_chassis_ctrl                        0x08008731   Thumb Code    64  chassis_ctrl.o(.text.Task_chassis_ctrl)
-    Task_dr16                                0x08008771   Thumb Code   128  dr16_1.o(.text.Task_dr16)
-    Task_gimbal_ctrl                         0x080087f1   Thumb Code   340  gimbal_ctrl.o(.text.Task_gimbal_ctrl)
-    Task_remote                              0x08008949   Thumb Code   176  remote.o(.text.Task_remote)
-    Task_shoot_ctrl                          0x080089f9   Thumb Code   148  shoot_ctrl.o(.text.Task_shoot_ctrl)
-    UART_Start_Receive_DMA                   0x08008e35   Thumb Code   170  stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
-    UART_Start_Receive_IT                    0x08008ee1   Thumb Code    52  stm32f4xx_hal_uart.o(.text.UART_Start_Receive_IT)
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-    USART6_IRQHandler                        0x08008f91   Thumb Code    24  stm32f4xx_it.o(.text.USART6_IRQHandler)
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-    osDelayUntil                             0x08009231   Thumb Code    52  cmsis_os2.o(.text.osDelayUntil)
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-    osKernelGetTickCount                     0x0800928d   Thumb Code    20  cmsis_os2.o(.text.osKernelGetTickCount)
-    osKernelGetTickFreq                      0x080092a1   Thumb Code     6  cmsis_os2.o(.text.osKernelGetTickFreq)
-    osKernelInitialize                       0x080092a9   Thumb Code    40  cmsis_os2.o(.text.osKernelInitialize)
-    osKernelLock                             0x080092d1   Thumb Code    44  cmsis_os2.o(.text.osKernelLock)
-    osKernelStart                            0x080092fd   Thumb Code    52  cmsis_os2.o(.text.osKernelStart)
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-    osMessageQueuePut                        0x0800949d   Thumb Code   142  cmsis_os2.o(.text.osMessageQueuePut)
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-    osMutexAcquire                           0x08009551   Thumb Code    82  cmsis_os2.o(.text.osMutexAcquire)
-    osMutexNew                               0x080095a5   Thumb Code   150  cmsis_os2.o(.text.osMutexNew)
-    osMutexRelease                           0x0800963d   Thumb Code    62  cmsis_os2.o(.text.osMutexRelease)
-    osThreadFlagsSet                         0x0800967d   Thumb Code   126  cmsis_os2.o(.text.osThreadFlagsSet)
-    osThreadFlagsWait                        0x080096fd   Thumb Code   186  cmsis_os2.o(.text.osThreadFlagsWait)
-    osThreadGetId                            0x080097b9   Thumb Code     8  cmsis_os2.o(.text.osThreadGetId)
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-    pvTaskIncrementMutexHeldCount            0x0800a399   Thumb Code    24  tasks.o(.text.pvTaskIncrementMutexHeldCount)
-    pxPortInitialiseStack                    0x0800a3b1   Thumb Code    40  port.o(.text.pxPortInitialiseStack)
-    uxListRemove                             0x0800a405   Thumb Code    36  list.o(.text.uxListRemove)
-    vApplicationGetIdleTaskMemory            0x0800a429   Thumb Code    26  cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
-    vApplicationGetTimerTaskMemory           0x0800a445   Thumb Code    28  cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
-    vListInitialise                          0x0800a461   Thumb Code    22  list.o(.text.vListInitialise)
-    vListInitialiseItem                      0x0800a479   Thumb Code     6  list.o(.text.vListInitialiseItem)
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-    vPortSetupTimerInterrupt                 0x0800a5f1   Thumb Code    52  port.o(.text.vPortSetupTimerInterrupt)
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-    vTaskDelayUntil                          0x0800a749   Thumb Code   168  tasks.o(.text.vTaskDelayUntil)
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-    vTaskSuspendAll                          0x0800aa9d   Thumb Code    16  tasks.o(.text.vTaskSuspendAll)
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-    xPortStartScheduler                      0x0800ab49   Thumb Code   274  port.o(.text.xPortStartScheduler)
-    xPortSysTickHandler                      0x0800ac5d   Thumb Code    46  port.o(.text.xPortSysTickHandler)
-    xQueueCreateMutex                        0x0800ac8d   Thumb Code    22  queue.o(.text.xQueueCreateMutex)
-    xQueueCreateMutexStatic                  0x0800aca5   Thumb Code    34  queue.o(.text.xQueueCreateMutexStatic)
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-    xQueueGenericSendFromISR                 0x0800afcd   Thumb Code   206  queue.o(.text.xQueueGenericSendFromISR)
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-    xTaskCreateStatic                        0x0800b605   Thumb Code   118  tasks.o(.text.xTaskCreateStatic)
-    xTaskGenericNotify                       0x0800b67d   Thumb Code   252  tasks.o(.text.xTaskGenericNotify)
-    xTaskGenericNotifyFromISR                0x0800b779   Thumb Code   298  tasks.o(.text.xTaskGenericNotifyFromISR)
-    xTaskGetCurrentTaskHandle                0x0800b8a5   Thumb Code    12  tasks.o(.text.xTaskGetCurrentTaskHandle)
-    xTaskGetSchedulerState                   0x0800b8b1   Thumb Code    38  tasks.o(.text.xTaskGetSchedulerState)
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-    xTaskGetTickCountFromISR                 0x0800b8e5   Thumb Code    18  tasks.o(.text.xTaskGetTickCountFromISR)
-    xTaskIncrementTick                       0x0800b8f9   Thumb Code   338  tasks.o(.text.xTaskIncrementTick)
-    xTaskNotifyWait                          0x0800ba4d   Thumb Code   144  tasks.o(.text.xTaskNotifyWait)
-    xTaskPriorityDisinherit                  0x0800badd   Thumb Code   146  tasks.o(.text.xTaskPriorityDisinherit)
-    xTaskPriorityInherit                     0x0800bb71   Thumb Code   146  tasks.o(.text.xTaskPriorityInherit)
-    xTaskRemoveFromEventList                 0x0800bc05   Thumb Code   142  tasks.o(.text.xTaskRemoveFromEventList)
-    xTaskResumeAll                           0x0800bc95   Thumb Code   276  tasks.o(.text.xTaskResumeAll)
-    xTimerCreateTimerTask                    0x0800bda9   Thumb Code   108  timers.o(.text.xTimerCreateTimerTask)
-    xTimerGenericCommand                     0x0800be1d   Thumb Code   104  timers.o(.text.xTimerGenericCommand)
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-    fabs                                     0x0800cbd9   Thumb Code    24  fabs.o(i.fabs)
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-    _fabs                                    0x0800cc41   Thumb Code     6  basic.o(x$fpl$basic)
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-    _d2f                                     0x0800cc49   Thumb Code    98  d2f.o(x$fpl$d2f)
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-    _dadd                                    0x0800ccad   Thumb Code   332  daddsub_clz.o(x$fpl$dadd)
-    __fpl_dcmp_Inf                           0x0800cdfd   Thumb Code    24  dcmpi.o(x$fpl$dcmpinf)
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-    _dfixu                                   0x0800d141   Thumb Code    90  dfixu.o(x$fpl$dfixu)
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-    _f2d                                     0x0800d5b1   Thumb Code    86  f2d.o(x$fpl$f2d)
-    __aeabi_ul2f                             0x0800d607   Thumb Code     0  ffltll_clz.o(x$fpl$ffltll)
-    _ll_uto_f                                0x0800d607   Thumb Code     6  ffltll_clz.o(x$fpl$ffltll)
-    __aeabi_l2f                              0x0800d60d   Thumb Code     0  ffltll_clz.o(x$fpl$ffltll)
-    _ll_sto_f                                0x0800d60d   Thumb Code    90  ffltll_clz.o(x$fpl$ffltll)
-    __fpl_fnaninf                            0x0800d667   Thumb Code   140  fnaninf.o(x$fpl$fnaninf)
-    _fp_init                                 0x0800d6f3   Thumb Code    26  fpinit.o(x$fpl$fpinit)
-    __fplib_config_fpu_vfp                   0x0800d70b   Thumb Code     0  fpinit.o(x$fpl$fpinit)
-    __fplib_config_pureend_doubles           0x0800d70b   Thumb Code     0  fpinit.o(x$fpl$fpinit)
-    __fpl_fretinf                            0x0800d70d   Thumb Code    10  fretinf.o(x$fpl$fretinf)
-    __I$use$fp                               0x0800d716   Number         0  usenofp.o(x$fpl$usenofp)
-    __mathlib_zero                           0x0800d7b0   Data           8  qnan.o(.constdata)
-    AHBPrescTable                            0x0800d7d8   Data          16  system_stm32f4xx.o(.rodata.AHBPrescTable)
-    APBPrescTable                            0x0800d7e8   Data           8  system_stm32f4xx.o(.rodata.APBPrescTable)
-    attr_ai                                  0x0800d828   Data          36  user_task.o(.rodata.attr_ai)
-    attr_atti_esti                           0x0800d84c   Data          36  user_task.o(.rodata.attr_atti_esti)
-    attr_chassis_ctrl                        0x0800d870   Data          36  user_task.o(.rodata.attr_chassis_ctrl)
-    attr_dr16                                0x0800d894   Data          36  user_task.o(.rodata.attr_dr16)
-    attr_gimbal_ctrl                         0x0800d8b8   Data          36  user_task.o(.rodata.attr_gimbal_ctrl)
-    attr_init                                0x0800d8dc   Data          36  user_task.o(.rodata.attr_init)
-    attr_remote                              0x0800d900   Data          36  user_task.o(.rodata.attr_remote)
-    attr_shoot_ctrl                          0x0800d924   Data          36  user_task.o(.rodata.attr_shoot_ctrl)
-    defaultTask_attributes                   0x0800db48   Data          36  freertos.o(.rodata.defaultTask_attributes)
-    Region$$Table$$Base                      0x0800dbe0   Number         0  anon$$obj.o(Region$$Table)
-    Region$$Table$$Limit                     0x0800dc20   Number         0  anon$$obj.o(Region$$Table)
+    Shoot_RunningFSM                         0x0800786d   Thumb Code  1212  shoot.o(.text.Shoot_RunningFSM)
+    Shoot_SetMode                            0x08007d29   Thumb Code    14  shoot.o(.text.Shoot_SetMode)
+    Shoot_UpdateFeedback                     0x08007d39   Thumb Code   468  shoot.o(.text.Shoot_UpdateFeedback)
+    StartDefaultTask                         0x08007f0d   Thumb Code    12  freertos.o(.text.StartDefaultTask)
+    SysTick_Handler                          0x08007f49   Thumb Code    20  stm32f4xx_it.o(.text.SysTick_Handler)
+    SystemClock_Config                       0x08007f5d   Thumb Code   164  main.o(.text.SystemClock_Config)
+    SystemInit                               0x08008001   Thumb Code    18  system_stm32f4xx.o(.text.SystemInit)
+    TIM_Base_SetConfig                       0x08008015   Thumb Code   300  stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig)
+    TIM_CCxChannelCmd                        0x08008141   Thumb Code    36  stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd)
+    TIM_OC2_SetConfig                        0x080081c9   Thumb Code   106  stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig)
+    Task_Init                                0x080082ed   Thumb Code   292  init.o(.text.Task_Init)
+    Task_ai                                  0x08008411   Thumb Code   160  ai_1.o(.text.Task_ai)
+    Task_atti_esti                           0x080084b1   Thumb Code   612  atti_esti.o(.text.Task_atti_esti)
+    Task_chassis_ctrl                        0x08008719   Thumb Code    64  chassis_ctrl.o(.text.Task_chassis_ctrl)
+    Task_dr16                                0x08008759   Thumb Code   128  dr16_1.o(.text.Task_dr16)
+    Task_gimbal_ctrl                         0x080087d9   Thumb Code   340  gimbal_ctrl.o(.text.Task_gimbal_ctrl)
+    Task_remote                              0x08008931   Thumb Code   176  remote.o(.text.Task_remote)
+    Task_shoot_ctrl                          0x080089e1   Thumb Code   148  shoot_ctrl.o(.text.Task_shoot_ctrl)
+    UART_Start_Receive_DMA                   0x08008e1d   Thumb Code   170  stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
+    UART_Start_Receive_IT                    0x08008ec9   Thumb Code    52  stm32f4xx_hal_uart.o(.text.UART_Start_Receive_IT)
+    USART1_IRQHandler                        0x08008f51   Thumb Code    24  stm32f4xx_it.o(.text.USART1_IRQHandler)
+    USART2_IRQHandler                        0x08008f69   Thumb Code    16  stm32f4xx_it.o(.text.USART2_IRQHandler)
+    USART6_IRQHandler                        0x08008f79   Thumb Code    24  stm32f4xx_it.o(.text.USART6_IRQHandler)
+    UsageFault_Handler                       0x08008f91   Thumb Code     2  stm32f4xx_it.o(.text.UsageFault_Handler)
+    eTaskGetState                            0x08009089   Thumb Code   156  tasks.o(.text.eTaskGetState)
+    main                                     0x08009151   Thumb Code    66  main.o(.text.main)
+    major_yaw_Control                        0x08009195   Thumb Code    32  gimbal.o(.text.major_yaw_Control)
+    osDelay                                  0x080091f9   Thumb Code    32  cmsis_os2.o(.text.osDelay)
+    osDelayUntil                             0x08009219   Thumb Code    52  cmsis_os2.o(.text.osDelayUntil)
+    osKernelGetState                         0x0800924d   Thumb Code    38  cmsis_os2.o(.text.osKernelGetState)
+    osKernelGetTickCount                     0x08009275   Thumb Code    20  cmsis_os2.o(.text.osKernelGetTickCount)
+    osKernelGetTickFreq                      0x08009289   Thumb Code     6  cmsis_os2.o(.text.osKernelGetTickFreq)
+    osKernelInitialize                       0x08009291   Thumb Code    40  cmsis_os2.o(.text.osKernelInitialize)
+    osKernelLock                             0x080092b9   Thumb Code    44  cmsis_os2.o(.text.osKernelLock)
+    osKernelStart                            0x080092e5   Thumb Code    52  cmsis_os2.o(.text.osKernelStart)
+    osKernelUnlock                           0x08009319   Thumb Code    68  cmsis_os2.o(.text.osKernelUnlock)
+    osMessageQueueGet                        0x0800935d   Thumb Code   134  cmsis_os2.o(.text.osMessageQueueGet)
+    osMessageQueueNew                        0x080093e5   Thumb Code   160  cmsis_os2.o(.text.osMessageQueueNew)
+    osMessageQueuePut                        0x08009485   Thumb Code   142  cmsis_os2.o(.text.osMessageQueuePut)
+    osMessageQueueReset                      0x08009515   Thumb Code    36  cmsis_os2.o(.text.osMessageQueueReset)
+    osMutexAcquire                           0x08009539   Thumb Code    82  cmsis_os2.o(.text.osMutexAcquire)
+    osMutexNew                               0x0800958d   Thumb Code   150  cmsis_os2.o(.text.osMutexNew)
+    osMutexRelease                           0x08009625   Thumb Code    62  cmsis_os2.o(.text.osMutexRelease)
+    osThreadFlagsSet                         0x08009665   Thumb Code   126  cmsis_os2.o(.text.osThreadFlagsSet)
+    osThreadFlagsWait                        0x080096e5   Thumb Code   186  cmsis_os2.o(.text.osThreadFlagsWait)
+    osThreadGetId                            0x080097a1   Thumb Code     8  cmsis_os2.o(.text.osThreadGetId)
+    osThreadNew                              0x080097a9   Thumb Code   180  cmsis_os2.o(.text.osThreadNew)
+    osThreadTerminate                        0x0800985d   Thumb Code    52  cmsis_os2.o(.text.osThreadTerminate)
+    pvPortMalloc                             0x0800a235   Thumb Code   330  heap_4.o(.text.pvPortMalloc)
+    pvTaskIncrementMutexHeldCount            0x0800a381   Thumb Code    24  tasks.o(.text.pvTaskIncrementMutexHeldCount)
+    pxPortInitialiseStack                    0x0800a399   Thumb Code    40  port.o(.text.pxPortInitialiseStack)
+    uxListRemove                             0x0800a3ed   Thumb Code    36  list.o(.text.uxListRemove)
+    vApplicationGetIdleTaskMemory            0x0800a411   Thumb Code    26  cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
+    vApplicationGetTimerTaskMemory           0x0800a42d   Thumb Code    28  cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
+    vListInitialise                          0x0800a449   Thumb Code    22  list.o(.text.vListInitialise)
+    vListInitialiseItem                      0x0800a461   Thumb Code     6  list.o(.text.vListInitialiseItem)
+    vListInsert                              0x0800a469   Thumb Code    58  list.o(.text.vListInsert)
+    vListInsertEnd                           0x0800a4a5   Thumb Code    28  list.o(.text.vListInsertEnd)
+    vPortEnterCritical                       0x0800a4d5   Thumb Code    70  port.o(.text.vPortEnterCritical)
+    vPortExitCritical                        0x0800a51d   Thumb Code    46  port.o(.text.vPortExitCritical)
+    vPortFree                                0x0800a54d   Thumb Code   138  heap_4.o(.text.vPortFree)
+    vPortSetupTimerInterrupt                 0x0800a5d9   Thumb Code    52  port.o(.text.vPortSetupTimerInterrupt)
+    vPortValidateInterruptPriority           0x0800a60d   Thumb Code    98  port.o(.text.vPortValidateInterruptPriority)
+    vQueueAddToRegistry                      0x0800a671   Thumb Code    40  queue.o(.text.vQueueAddToRegistry)
+    vQueueWaitForMessageRestricted           0x0800a699   Thumb Code    68  queue.o(.text.vQueueWaitForMessageRestricted)
+    vTaskDelay                               0x0800a6dd   Thumb Code    84  tasks.o(.text.vTaskDelay)
+    vTaskDelayUntil                          0x0800a731   Thumb Code   168  tasks.o(.text.vTaskDelayUntil)
+    vTaskDelete                              0x0800a7d9   Thumb Code   194  tasks.o(.text.vTaskDelete)
+    vTaskInternalSetTimeOutState             0x0800a89d   Thumb Code    26  tasks.o(.text.vTaskInternalSetTimeOutState)
+    vTaskMissedYield                         0x0800a8b9   Thumb Code    14  tasks.o(.text.vTaskMissedYield)
+    vTaskPlaceOnEventList                    0x0800a8c9   Thumb Code    50  tasks.o(.text.vTaskPlaceOnEventList)
+    vTaskPlaceOnEventListRestricted          0x0800a8fd   Thumb Code    62  tasks.o(.text.vTaskPlaceOnEventListRestricted)
+    vTaskPriorityDisinheritAfterTimeout      0x0800a93d   Thumb Code   164  tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
+    vTaskStartScheduler                      0x0800a9e1   Thumb Code   156  tasks.o(.text.vTaskStartScheduler)
+    vTaskSuspendAll                          0x0800aa85   Thumb Code    16  tasks.o(.text.vTaskSuspendAll)
+    vTaskSwitchContext                       0x0800aa95   Thumb Code   154  tasks.o(.text.vTaskSwitchContext)
+    xPortStartScheduler                      0x0800ab31   Thumb Code   274  port.o(.text.xPortStartScheduler)
+    xPortSysTickHandler                      0x0800ac45   Thumb Code    46  port.o(.text.xPortSysTickHandler)
+    xQueueCreateMutex                        0x0800ac75   Thumb Code    22  queue.o(.text.xQueueCreateMutex)
+    xQueueCreateMutexStatic                  0x0800ac8d   Thumb Code    34  queue.o(.text.xQueueCreateMutexStatic)
+    xQueueGenericCreate                      0x0800acb1   Thumb Code    70  queue.o(.text.xQueueGenericCreate)
+    xQueueGenericCreateStatic                0x0800acf9   Thumb Code   150  queue.o(.text.xQueueGenericCreateStatic)
+    xQueueGenericReset                       0x0800ad91   Thumb Code   126  queue.o(.text.xQueueGenericReset)
+    xQueueGenericSend                        0x0800ae11   Thumb Code   418  queue.o(.text.xQueueGenericSend)
+    xQueueGenericSendFromISR                 0x0800afb5   Thumb Code   206  queue.o(.text.xQueueGenericSendFromISR)
+    xQueueGiveMutexRecursive                 0x0800b085   Thumb Code    66  queue.o(.text.xQueueGiveMutexRecursive)
+    xQueueReceive                            0x0800b0c9   Thumb Code   388  queue.o(.text.xQueueReceive)
+    xQueueReceiveFromISR                     0x0800b24d   Thumb Code   170  queue.o(.text.xQueueReceiveFromISR)
+    xQueueSemaphoreTake                      0x0800b2f9   Thumb Code   454  queue.o(.text.xQueueSemaphoreTake)
+    xQueueTakeMutexRecursive                 0x0800b4c1   Thumb Code    60  queue.o(.text.xQueueTakeMutexRecursive)
+    xTaskCheckForTimeOut                     0x0800b4fd   Thumb Code   136  tasks.o(.text.xTaskCheckForTimeOut)
+    xTaskCreate                              0x0800b585   Thumb Code   102  tasks.o(.text.xTaskCreate)
+    xTaskCreateStatic                        0x0800b5ed   Thumb Code   118  tasks.o(.text.xTaskCreateStatic)
+    xTaskGenericNotify                       0x0800b665   Thumb Code   252  tasks.o(.text.xTaskGenericNotify)
+    xTaskGenericNotifyFromISR                0x0800b761   Thumb Code   298  tasks.o(.text.xTaskGenericNotifyFromISR)
+    xTaskGetCurrentTaskHandle                0x0800b88d   Thumb Code    12  tasks.o(.text.xTaskGetCurrentTaskHandle)
+    xTaskGetSchedulerState                   0x0800b899   Thumb Code    38  tasks.o(.text.xTaskGetSchedulerState)
+    xTaskGetTickCount                        0x0800b8c1   Thumb Code    12  tasks.o(.text.xTaskGetTickCount)
+    xTaskGetTickCountFromISR                 0x0800b8cd   Thumb Code    18  tasks.o(.text.xTaskGetTickCountFromISR)
+    xTaskIncrementTick                       0x0800b8e1   Thumb Code   338  tasks.o(.text.xTaskIncrementTick)
+    xTaskNotifyWait                          0x0800ba35   Thumb Code   144  tasks.o(.text.xTaskNotifyWait)
+    xTaskPriorityDisinherit                  0x0800bac5   Thumb Code   146  tasks.o(.text.xTaskPriorityDisinherit)
+    xTaskPriorityInherit                     0x0800bb59   Thumb Code   146  tasks.o(.text.xTaskPriorityInherit)
+    xTaskRemoveFromEventList                 0x0800bbed   Thumb Code   142  tasks.o(.text.xTaskRemoveFromEventList)
+    xTaskResumeAll                           0x0800bc7d   Thumb Code   276  tasks.o(.text.xTaskResumeAll)
+    xTimerCreateTimerTask                    0x0800bd91   Thumb Code   108  timers.o(.text.xTimerCreateTimerTask)
+    xTimerGenericCommand                     0x0800be05   Thumb Code   104  timers.o(.text.xTimerGenericCommand)
+    __ARM_fpclassify                         0x0800be6d   Thumb Code    48  fpclassify.o(i.__ARM_fpclassify)
+    __ARM_fpclassifyf                        0x0800be9d   Thumb Code    38  fpclassifyf.o(i.__ARM_fpclassifyf)
+    __hardfp_asinf                           0x0800bec5   Thumb Code   258  asinf.o(i.__hardfp_asinf)
+    __hardfp_atan                            0x0800bff1   Thumb Code   622  atan.o(i.__hardfp_atan)
+    __hardfp_atan2                           0x0800c2c9   Thumb Code   448  atan2.o(i.__hardfp_atan2)
+    __hardfp_atan2f                          0x0800c4c9   Thumb Code   594  atan2f.o(i.__hardfp_atan2f)
+    __hardfp_tanf                            0x0800c775   Thumb Code   322  tanf.o(i.__hardfp_tanf)
+    __kernel_poly                            0x0800c8f1   Thumb Code   248  poly.o(i.__kernel_poly)
+    __mathlib_dbl_infnan                     0x0800c9e9   Thumb Code    20  dunder.o(i.__mathlib_dbl_infnan)
+    __mathlib_dbl_infnan2                    0x0800c9fd   Thumb Code    20  dunder.o(i.__mathlib_dbl_infnan2)
+    __mathlib_dbl_underflow                  0x0800ca11   Thumb Code    24  dunder.o(i.__mathlib_dbl_underflow)
+    __mathlib_flt_infnan                     0x0800ca31   Thumb Code     6  funder.o(i.__mathlib_flt_infnan)
+    __mathlib_flt_infnan2                    0x0800ca37   Thumb Code     6  funder.o(i.__mathlib_flt_infnan2)
+    __mathlib_flt_invalid                    0x0800ca3d   Thumb Code    10  funder.o(i.__mathlib_flt_invalid)
+    __mathlib_flt_underflow                  0x0800ca4d   Thumb Code    10  funder.o(i.__mathlib_flt_underflow)
+    __mathlib_rredf2                         0x0800ca5d   Thumb Code   316  rredf.o(i.__mathlib_rredf2)
+    atan                                     0x0800cbb1   Thumb Code    16  atan.o(i.atan)
+    fabs                                     0x0800cbc1   Thumb Code    24  fabs.o(i.fabs)
+    sqrtf                                    0x0800cbd9   Thumb Code    62  sqrtf.o(i.sqrtf)
+    __aeabi_dneg                             0x0800cc17   Thumb Code     0  basic.o(x$fpl$basic)
+    _dneg                                    0x0800cc17   Thumb Code     6  basic.o(x$fpl$basic)
+    __aeabi_fneg                             0x0800cc1d   Thumb Code     0  basic.o(x$fpl$basic)
+    _fneg                                    0x0800cc1d   Thumb Code     6  basic.o(x$fpl$basic)
+    _dabs                                    0x0800cc23   Thumb Code     6  basic.o(x$fpl$basic)
+    _fabs                                    0x0800cc29   Thumb Code     6  basic.o(x$fpl$basic)
+    __aeabi_d2f                              0x0800cc31   Thumb Code     0  d2f.o(x$fpl$d2f)
+    _d2f                                     0x0800cc31   Thumb Code    98  d2f.o(x$fpl$d2f)
+    __aeabi_dadd                             0x0800cc95   Thumb Code     0  daddsub_clz.o(x$fpl$dadd)
+    _dadd                                    0x0800cc95   Thumb Code   332  daddsub_clz.o(x$fpl$dadd)
+    __fpl_dcmp_Inf                           0x0800cde5   Thumb Code    24  dcmpi.o(x$fpl$dcmpinf)
+    __aeabi_ddiv                             0x0800cdfd   Thumb Code     0  ddiv.o(x$fpl$ddiv)
+    _ddiv                                    0x0800cdfd   Thumb Code   556  ddiv.o(x$fpl$ddiv)
+    __aeabi_cdcmpeq                          0x0800d0b1   Thumb Code     0  deqf.o(x$fpl$deqf)
+    _dcmpeq                                  0x0800d0b1   Thumb Code   120  deqf.o(x$fpl$deqf)
+    __aeabi_d2uiz                            0x0800d129   Thumb Code     0  dfixu.o(x$fpl$dfixu)
+    _dfixu                                   0x0800d129   Thumb Code    90  dfixu.o(x$fpl$dfixu)
+    __aeabi_ui2d                             0x0800d183   Thumb Code     0  dflt_clz.o(x$fpl$dfltu)
+    _dfltu                                   0x0800d183   Thumb Code    38  dflt_clz.o(x$fpl$dfltu)
+    __aeabi_dmul                             0x0800d1a9   Thumb Code     0  dmul.o(x$fpl$dmul)
+    _dmul                                    0x0800d1a9   Thumb Code   332  dmul.o(x$fpl$dmul)
+    __fpl_dnaninf                            0x0800d2fd   Thumb Code   156  dnaninf.o(x$fpl$dnaninf)
+    __fpl_dretinf                            0x0800d399   Thumb Code    12  dretinf.o(x$fpl$dretinf)
+    __aeabi_drsub                            0x0800d3a5   Thumb Code     0  daddsub_clz.o(x$fpl$drsb)
+    _drsb                                    0x0800d3a5   Thumb Code    22  daddsub_clz.o(x$fpl$drsb)
+    __aeabi_dsub                             0x0800d3bd   Thumb Code     0  daddsub_clz.o(x$fpl$dsub)
+    _dsub                                    0x0800d3bd   Thumb Code   472  daddsub_clz.o(x$fpl$dsub)
+    __aeabi_f2d                              0x0800d599   Thumb Code     0  f2d.o(x$fpl$f2d)
+    _f2d                                     0x0800d599   Thumb Code    86  f2d.o(x$fpl$f2d)
+    __aeabi_ul2f                             0x0800d5ef   Thumb Code     0  ffltll_clz.o(x$fpl$ffltll)
+    _ll_uto_f                                0x0800d5ef   Thumb Code     6  ffltll_clz.o(x$fpl$ffltll)
+    __aeabi_l2f                              0x0800d5f5   Thumb Code     0  ffltll_clz.o(x$fpl$ffltll)
+    _ll_sto_f                                0x0800d5f5   Thumb Code    90  ffltll_clz.o(x$fpl$ffltll)
+    __fpl_fnaninf                            0x0800d64f   Thumb Code   140  fnaninf.o(x$fpl$fnaninf)
+    _fp_init                                 0x0800d6db   Thumb Code    26  fpinit.o(x$fpl$fpinit)
+    __fplib_config_fpu_vfp                   0x0800d6f3   Thumb Code     0  fpinit.o(x$fpl$fpinit)
+    __fplib_config_pureend_doubles           0x0800d6f3   Thumb Code     0  fpinit.o(x$fpl$fpinit)
+    __fpl_fretinf                            0x0800d6f5   Thumb Code    10  fretinf.o(x$fpl$fretinf)
+    __I$use$fp                               0x0800d6fe   Number         0  usenofp.o(x$fpl$usenofp)
+    __mathlib_zero                           0x0800d798   Data           8  qnan.o(.constdata)
+    AHBPrescTable                            0x0800d7c0   Data          16  system_stm32f4xx.o(.rodata.AHBPrescTable)
+    APBPrescTable                            0x0800d7d0   Data           8  system_stm32f4xx.o(.rodata.APBPrescTable)
+    attr_ai                                  0x0800d810   Data          36  user_task.o(.rodata.attr_ai)
+    attr_atti_esti                           0x0800d834   Data          36  user_task.o(.rodata.attr_atti_esti)
+    attr_chassis_ctrl                        0x0800d858   Data          36  user_task.o(.rodata.attr_chassis_ctrl)
+    attr_dr16                                0x0800d87c   Data          36  user_task.o(.rodata.attr_dr16)
+    attr_gimbal_ctrl                         0x0800d8a0   Data          36  user_task.o(.rodata.attr_gimbal_ctrl)
+    attr_init                                0x0800d8c4   Data          36  user_task.o(.rodata.attr_init)
+    attr_remote                              0x0800d8e8   Data          36  user_task.o(.rodata.attr_remote)
+    attr_shoot_ctrl                          0x0800d90c   Data          36  user_task.o(.rodata.attr_shoot_ctrl)
+    defaultTask_attributes                   0x0800db30   Data          36  freertos.o(.rodata.defaultTask_attributes)
+    Region$$Table$$Base                      0x0800dbc8   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x0800dc08   Number         0  anon$$obj.o(Region$$Table)
     cali_bmi088                              0x20000000   Data          12  atti_esti.o(.data.cali_bmi088)
     robot_config                             0x2000000c   Data         800  config.o(.data.robot_config)
     ai                                       0x2000040c   Data          72  ai_1.o(.bss.ai)
@@ -7654,9 +7654,9 @@ Memory Map of the image
 
   Image Entry point : 0x08000189
 
-  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000df68, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x0000dd50])
+  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000df50, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x0000dd30])
 
-    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0000dc20, Max: 0x00100000, ABSOLUTE)
+    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0000dc08, Max: 0x00100000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
@@ -8103,319 +8103,319 @@ Memory Map of the image
     0x08007836   0x08007836   0x00000002   PAD
     0x08007838   0x08007838   0x00000032   Code   RO         3173    .text.Shoot_ResetOutput  shoot.o
     0x0800786a   0x0800786a   0x00000002   PAD
-    0x0800786c   0x0800786c   0x000004d4   Code   RO         3181    .text.Shoot_RunningFSM  shoot.o
-    0x08007d40   0x08007d40   0x0000000e   Code   RO         3167    .text.Shoot_SetMode  shoot.o
-    0x08007d4e   0x08007d4e   0x00000002   PAD
-    0x08007d50   0x08007d50   0x000001d4   Code   RO         3179    .text.Shoot_UpdateFeedback  shoot.o
-    0x08007f24   0x08007f24   0x0000000c   Code   RO           36    .text.StartDefaultTask  freertos.o
-    0x08007f30   0x08007f30   0x0000002e   Code   RO          598    .text.SysTick_Config  stm32f4xx_hal_cortex.o
-    0x08007f5e   0x08007f5e   0x00000002   PAD
-    0x08007f60   0x08007f60   0x00000014   Code   RO          162    .text.SysTick_Handler  stm32f4xx_it.o
-    0x08007f74   0x08007f74   0x000000a4   Code   RO           13    .text.SystemClock_Config  main.o
-    0x08008018   0x08008018   0x00000012   Code   RO         1502    .text.SystemInit    system_stm32f4xx.o
-    0x0800802a   0x0800802a   0x00000002   PAD
-    0x0800802c   0x0800802c   0x0000012c   Code   RO         1036    .text.TIM_Base_SetConfig  stm32f4xx_hal_tim.o
-    0x08008158   0x08008158   0x00000024   Code   RO         1070    .text.TIM_CCxChannelCmd  stm32f4xx_hal_tim.o
-    0x0800817c   0x0800817c   0x00000064   Code   RO         1180    .text.TIM_OC1_SetConfig  stm32f4xx_hal_tim.o
-    0x080081e0   0x080081e0   0x0000006a   Code   RO         1182    .text.TIM_OC2_SetConfig  stm32f4xx_hal_tim.o
-    0x0800824a   0x0800824a   0x00000002   PAD
-    0x0800824c   0x0800824c   0x00000068   Code   RO         1184    .text.TIM_OC3_SetConfig  stm32f4xx_hal_tim.o
-    0x080082b4   0x080082b4   0x0000004e   Code   RO         1186    .text.TIM_OC4_SetConfig  stm32f4xx_hal_tim.o
-    0x08008302   0x08008302   0x00000002   PAD
-    0x08008304   0x08008304   0x00000124   Code   RO         2971    .text.Task_Init     init.o
-    0x08008428   0x08008428   0x000000a0   Code   RO         3067    .text.Task_ai       ai_1.o
-    0x080084c8   0x080084c8   0x00000264   Code   RO         2995    .text.Task_atti_esti  atti_esti.o
-    0x0800872c   0x0800872c   0x00000004   PAD
-    0x08008730   0x08008730   0x00000040   Code   RO         3044    .text.Task_chassis_ctrl  chassis_ctrl.o
-    0x08008770   0x08008770   0x00000080   Code   RO         3018    .text.Task_dr16     dr16_1.o
-    0x080087f0   0x080087f0   0x00000154   Code   RO         3028    .text.Task_gimbal_ctrl  gimbal_ctrl.o
-    0x08008944   0x08008944   0x00000004   PAD
-    0x08008948   0x08008948   0x000000b0   Code   RO         3079    .text.Task_remote   remote.o
-    0x080089f8   0x080089f8   0x00000094   Code   RO         3056    .text.Task_shoot_ctrl  shoot_ctrl.o
-    0x08008a8c   0x08008a8c   0x0000000e   Code   RO         1458    .text.UART_DMAAbortOnError  stm32f4xx_hal_uart.o
-    0x08008a9a   0x08008a9a   0x00000002   PAD
-    0x08008a9c   0x08008a9c   0x0000004c   Code   RO         1404    .text.UART_DMAError  stm32f4xx_hal_uart.o
-    0x08008ae8   0x08008ae8   0x00000084   Code   RO         1490    .text.UART_DMAReceiveCplt  stm32f4xx_hal_uart.o
-    0x08008b6c   0x08008b6c   0x0000001e   Code   RO         1492    .text.UART_DMARxHalfCplt  stm32f4xx_hal_uart.o
-    0x08008b8a   0x08008b8a   0x00000002   PAD
-    0x08008b8c   0x08008b8c   0x00000040   Code   RO         1400    .text.UART_DMATransmitCplt  stm32f4xx_hal_uart.o
-    0x08008bcc   0x08008bcc   0x0000000a   Code   RO         1402    .text.UART_DMATxHalfCplt  stm32f4xx_hal_uart.o
-    0x08008bd6   0x08008bd6   0x00000002   PAD
-    0x08008bd8   0x08008bd8   0x00000050   Code   RO         1418    .text.UART_EndRxTransfer  stm32f4xx_hal_uart.o
-    0x08008c28   0x08008c28   0x00000018   Code   RO         1466    .text.UART_EndTransmit_IT  stm32f4xx_hal_uart.o
-    0x08008c40   0x08008c40   0x0000001c   Code   RO         1416    .text.UART_EndTxTransfer  stm32f4xx_hal_uart.o
-    0x08008c5c   0x08008c5c   0x00000034   Code   RO         2410    .text.UART_Get      uart.o
-    0x08008c90   0x08008c90   0x000000c8   Code   RO         1456    .text.UART_Receive_IT  stm32f4xx_hal_uart.o
-    0x08008d58   0x08008d58   0x000000dc   Code   RO         1374    .text.UART_SetConfig  stm32f4xx_hal_uart.o
-    0x08008e34   0x08008e34   0x000000aa   Code   RO         1408    .text.UART_Start_Receive_DMA  stm32f4xx_hal_uart.o
-    0x08008ede   0x08008ede   0x00000002   PAD
-    0x08008ee0   0x08008ee0   0x00000034   Code   RO         1396    .text.UART_Start_Receive_IT  stm32f4xx_hal_uart.o
-    0x08008f14   0x08008f14   0x00000052   Code   RO         1464    .text.UART_Transmit_IT  stm32f4xx_hal_uart.o
-    0x08008f66   0x08008f66   0x00000002   PAD
-    0x08008f68   0x08008f68   0x00000018   Code   RO          180    .text.USART1_IRQHandler  stm32f4xx_it.o
-    0x08008f80   0x08008f80   0x00000010   Code   RO          182    .text.USART2_IRQHandler  stm32f4xx_it.o
-    0x08008f90   0x08008f90   0x00000018   Code   RO          194    .text.USART6_IRQHandler  stm32f4xx_it.o
-    0x08008fa8   0x08008fa8   0x00000002   Code   RO          158    .text.UsageFault_Handler  stm32f4xx_it.o
-    0x08008faa   0x08008faa   0x00000002   PAD
-    0x08008fac   0x08008fac   0x0000000e   Code   RO         2577    .text.__ARM_isfinitef  filter.o
-    0x08008fba   0x08008fba   0x00000002   PAD
-    0x08008fbc   0x08008fbc   0x0000000e   Code   RO         2650    .text.__ARM_isfinitef  pid.o
-    0x08008fca   0x08008fca   0x00000002   PAD
-    0x08008fcc   0x08008fcc   0x00000010   Code   RO         2573    .text.__ARM_isinff  filter.o
-    0x08008fdc   0x08008fdc   0x00000028   Code   RO          590    .text.__NVIC_DisableIRQ  stm32f4xx_hal_cortex.o
-    0x08009004   0x08009004   0x00000020   Code   RO          586    .text.__NVIC_EnableIRQ  stm32f4xx_hal_cortex.o
-    0x08009024   0x08009024   0x00000010   Code   RO          578    .text.__NVIC_GetPriorityGrouping  stm32f4xx_hal_cortex.o
-    0x08009034   0x08009034   0x00000022   Code   RO          580    .text.__NVIC_SetPriority  stm32f4xx_hal_cortex.o
-    0x08009056   0x08009056   0x00000002   PAD
-    0x08009058   0x08009058   0x0000000e   Code   RO         2107    .text.__NVIC_SetPriority  cmsis_os2.o
-    0x08009066   0x08009066   0x00000002   PAD
-    0x08009068   0x08009068   0x00000020   Code   RO          574    .text.__NVIC_SetPriorityGrouping  stm32f4xx_hal_cortex.o
-    0x08009088   0x08009088   0x00000016   Code   RO         2495    .text.copysignf     ahrs.o
-    0x0800909e   0x0800909e   0x00000002   PAD
-    0x080090a0   0x080090a0   0x0000009c   Code   RO         1745    .text.eTaskGetState  tasks.o
-    0x0800913c   0x0800913c   0x0000002c   Code   RO         2916    .text.float_to_uint  motor_dm.o
-    0x08009168   0x08009168   0x00000042   Code   RO           11    .text.main          main.o
-    0x080091aa   0x080091aa   0x00000002   PAD
-    0x080091ac   0x080091ac   0x00000020   Code   RO         3133    .text.major_yaw_Control  gimbal.o
-    0x080091cc   0x080091cc   0x00000044   Code   RO         3141    .text.motor_imu_offset  gimbal.o
-    0x08009210   0x08009210   0x00000020   Code   RO         2011    .text.osDelay       cmsis_os2.o
-    0x08009230   0x08009230   0x00000034   Code   RO         2013    .text.osDelayUntil  cmsis_os2.o
-    0x08009264   0x08009264   0x00000026   Code   RO         1949    .text.osKernelGetState  cmsis_os2.o
-    0x0800928a   0x0800928a   0x00000002   PAD
-    0x0800928c   0x0800928c   0x00000014   Code   RO         1961    .text.osKernelGetTickCount  cmsis_os2.o
-    0x080092a0   0x080092a0   0x00000006   Code   RO         1963    .text.osKernelGetTickFreq  cmsis_os2.o
-    0x080092a6   0x080092a6   0x00000002   PAD
-    0x080092a8   0x080092a8   0x00000028   Code   RO         1945    .text.osKernelInitialize  cmsis_os2.o
-    0x080092d0   0x080092d0   0x0000002c   Code   RO         1955    .text.osKernelLock  cmsis_os2.o
-    0x080092fc   0x080092fc   0x00000034   Code   RO         1951    .text.osKernelStart  cmsis_os2.o
-    0x08009330   0x08009330   0x00000044   Code   RO         1957    .text.osKernelUnlock  cmsis_os2.o
-    0x08009374   0x08009374   0x00000086   Code   RO         2065    .text.osMessageQueueGet  cmsis_os2.o
-    0x080093fa   0x080093fa   0x00000002   PAD
-    0x080093fc   0x080093fc   0x000000a0   Code   RO         2061    .text.osMessageQueueNew  cmsis_os2.o
-    0x0800949c   0x0800949c   0x0000008e   Code   RO         2063    .text.osMessageQueuePut  cmsis_os2.o
-    0x0800952a   0x0800952a   0x00000002   PAD
-    0x0800952c   0x0800952c   0x00000024   Code   RO         2075    .text.osMessageQueueReset  cmsis_os2.o
-    0x08009550   0x08009550   0x00000052   Code   RO         2043    .text.osMutexAcquire  cmsis_os2.o
-    0x080095a2   0x080095a2   0x00000002   PAD
-    0x080095a4   0x080095a4   0x00000096   Code   RO         2041    .text.osMutexNew    cmsis_os2.o
-    0x0800963a   0x0800963a   0x00000002   PAD
-    0x0800963c   0x0800963c   0x0000003e   Code   RO         2045    .text.osMutexRelease  cmsis_os2.o
-    0x0800967a   0x0800967a   0x00000002   PAD
-    0x0800967c   0x0800967c   0x0000007e   Code   RO         2003    .text.osThreadFlagsSet  cmsis_os2.o
-    0x080096fa   0x080096fa   0x00000002   PAD
-    0x080096fc   0x080096fc   0x000000ba   Code   RO         2009    .text.osThreadFlagsWait  cmsis_os2.o
-    0x080097b6   0x080097b6   0x00000002   PAD
-    0x080097b8   0x080097b8   0x00000008   Code   RO         1979    .text.osThreadGetId  cmsis_os2.o
-    0x080097c0   0x080097c0   0x000000b4   Code   RO         1975    .text.osThreadNew   cmsis_os2.o
-    0x08009874   0x08009874   0x00000034   Code   RO         1997    .text.osThreadTerminate  cmsis_os2.o
-    0x080098a8   0x080098a8   0x00000080   Code   RO         1739    .text.prvAddCurrentTaskToDelayedList  tasks.o
-    0x08009928   0x08009928   0x000000ac   Code   RO         1725    .text.prvAddNewTaskToReadyList  tasks.o
-    0x080099d4   0x080099d4   0x0000007c   Code   RO         1876    .text.prvCheckForValidListAndQueue  timers.o
-    0x08009a50   0x08009a50   0x0000004e   Code   RO         1843    .text.prvCheckTasksWaitingTermination  tasks.o
-    0x08009a9e   0x08009a9e   0x00000002   PAD
-    0x08009aa0   0x08009aa0   0x00000026   Code   RO         1616    .text.prvCopyDataFromQueue  queue.o
-    0x08009ac6   0x08009ac6   0x00000002   PAD
-    0x08009ac8   0x08009ac8   0x0000007a   Code   RO         1604    .text.prvCopyDataToQueue  queue.o
-    0x08009b42   0x08009b42   0x00000002   PAD
-    0x08009b44   0x08009b44   0x00000036   Code   RO         1731    .text.prvDeleteTCB  tasks.o
-    0x08009b7a   0x08009b7a   0x00000002   PAD
-    0x08009b7c   0x08009b7c   0x00000012   Code   RO         1620    .text.prvGetDisinheritPriorityAfterTimeout  queue.o
-    0x08009b8e   0x08009b8e   0x00000002   PAD
-    0x08009b90   0x08009b90   0x00000020   Code   RO         1914    .text.prvGetNextExpireTime  timers.o
-    0x08009bb0   0x08009bb0   0x00000078   Code   RO         2125    .text.prvHeapInit   heap_4.o
-    0x08009c28   0x08009c28   0x0000002a   Code   RO         1765    .text.prvIdleTask   tasks.o
-    0x08009c52   0x08009c52   0x00000002   PAD
-    0x08009c54   0x08009c54   0x00000020   Code   RO         1584    .text.prvInitialiseMutex  queue.o
-    0x08009c74   0x08009c74   0x00000020   Code   RO         1578    .text.prvInitialiseNewQueue  queue.o
-    0x08009c94   0x08009c94   0x00000098   Code   RO         1723    .text.prvInitialiseNewTask  tasks.o
-    0x08009d2c   0x08009d2c   0x00000070   Code   RO         1841    .text.prvInitialiseTaskLists  tasks.o
-    0x08009d9c   0x08009d9c   0x0000005a   Code   RO         2127    .text.prvInsertBlockIntoFreeList  heap_4.o
-    0x08009df6   0x08009df6   0x00000002   PAD
-    0x08009df8   0x08009df8   0x00000040   Code   RO         1926    .text.prvInsertTimerInActiveList  timers.o
-    0x08009e38   0x08009e38   0x00000018   Code   RO         1618    .text.prvIsQueueEmpty  queue.o
-    0x08009e50   0x08009e50   0x0000001c   Code   RO         1606    .text.prvIsQueueFull  queue.o
-    0x08009e6c   0x08009e6c   0x00000028   Code   RO         2167    .text.prvPortStartFirstTask  port.o
-    0x08009e94   0x08009e94   0x0000006e   Code   RO         1922    .text.prvProcessExpiredTimer  timers.o
-    0x08009f02   0x08009f02   0x00000002   PAD
-    0x08009f04   0x08009f04   0x00000122   Code   RO         1918    .text.prvProcessReceivedCommands  timers.o
-    0x0800a026   0x0800a026   0x00000002   PAD
-    0x0800a028   0x0800a028   0x00000080   Code   RO         1916    .text.prvProcessTimerOrBlockTask  timers.o
-    0x0800a0a8   0x0800a0a8   0x00000028   Code   RO         1733    .text.prvResetNextTaskUnblockTime  tasks.o
-    0x0800a0d0   0x0800a0d0   0x0000002a   Code   RO         1920    .text.prvSampleTimeNow  timers.o
-    0x0800a0fa   0x0800a0fa   0x00000002   PAD
-    0x0800a0fc   0x0800a0fc   0x0000008e   Code   RO         1924    .text.prvSwitchTimerLists  timers.o
-    0x0800a18a   0x0800a18a   0x00000002   PAD
-    0x0800a18c   0x0800a18c   0x00000032   Code   RO         2157    .text.prvTaskExitError  port.o
+    0x0800786c   0x0800786c   0x000004bc   Code   RO         3181    .text.Shoot_RunningFSM  shoot.o
+    0x08007d28   0x08007d28   0x0000000e   Code   RO         3167    .text.Shoot_SetMode  shoot.o
+    0x08007d36   0x08007d36   0x00000002   PAD
+    0x08007d38   0x08007d38   0x000001d4   Code   RO         3179    .text.Shoot_UpdateFeedback  shoot.o
+    0x08007f0c   0x08007f0c   0x0000000c   Code   RO           36    .text.StartDefaultTask  freertos.o
+    0x08007f18   0x08007f18   0x0000002e   Code   RO          598    .text.SysTick_Config  stm32f4xx_hal_cortex.o
+    0x08007f46   0x08007f46   0x00000002   PAD
+    0x08007f48   0x08007f48   0x00000014   Code   RO          162    .text.SysTick_Handler  stm32f4xx_it.o
+    0x08007f5c   0x08007f5c   0x000000a4   Code   RO           13    .text.SystemClock_Config  main.o
+    0x08008000   0x08008000   0x00000012   Code   RO         1502    .text.SystemInit    system_stm32f4xx.o
+    0x08008012   0x08008012   0x00000002   PAD
+    0x08008014   0x08008014   0x0000012c   Code   RO         1036    .text.TIM_Base_SetConfig  stm32f4xx_hal_tim.o
+    0x08008140   0x08008140   0x00000024   Code   RO         1070    .text.TIM_CCxChannelCmd  stm32f4xx_hal_tim.o
+    0x08008164   0x08008164   0x00000064   Code   RO         1180    .text.TIM_OC1_SetConfig  stm32f4xx_hal_tim.o
+    0x080081c8   0x080081c8   0x0000006a   Code   RO         1182    .text.TIM_OC2_SetConfig  stm32f4xx_hal_tim.o
+    0x08008232   0x08008232   0x00000002   PAD
+    0x08008234   0x08008234   0x00000068   Code   RO         1184    .text.TIM_OC3_SetConfig  stm32f4xx_hal_tim.o
+    0x0800829c   0x0800829c   0x0000004e   Code   RO         1186    .text.TIM_OC4_SetConfig  stm32f4xx_hal_tim.o
+    0x080082ea   0x080082ea   0x00000002   PAD
+    0x080082ec   0x080082ec   0x00000124   Code   RO         2971    .text.Task_Init     init.o
+    0x08008410   0x08008410   0x000000a0   Code   RO         3067    .text.Task_ai       ai_1.o
+    0x080084b0   0x080084b0   0x00000264   Code   RO         2995    .text.Task_atti_esti  atti_esti.o
+    0x08008714   0x08008714   0x00000004   PAD
+    0x08008718   0x08008718   0x00000040   Code   RO         3044    .text.Task_chassis_ctrl  chassis_ctrl.o
+    0x08008758   0x08008758   0x00000080   Code   RO         3018    .text.Task_dr16     dr16_1.o
+    0x080087d8   0x080087d8   0x00000154   Code   RO         3028    .text.Task_gimbal_ctrl  gimbal_ctrl.o
+    0x0800892c   0x0800892c   0x00000004   PAD
+    0x08008930   0x08008930   0x000000b0   Code   RO         3079    .text.Task_remote   remote.o
+    0x080089e0   0x080089e0   0x00000094   Code   RO         3056    .text.Task_shoot_ctrl  shoot_ctrl.o
+    0x08008a74   0x08008a74   0x0000000e   Code   RO         1458    .text.UART_DMAAbortOnError  stm32f4xx_hal_uart.o
+    0x08008a82   0x08008a82   0x00000002   PAD
+    0x08008a84   0x08008a84   0x0000004c   Code   RO         1404    .text.UART_DMAError  stm32f4xx_hal_uart.o
+    0x08008ad0   0x08008ad0   0x00000084   Code   RO         1490    .text.UART_DMAReceiveCplt  stm32f4xx_hal_uart.o
+    0x08008b54   0x08008b54   0x0000001e   Code   RO         1492    .text.UART_DMARxHalfCplt  stm32f4xx_hal_uart.o
+    0x08008b72   0x08008b72   0x00000002   PAD
+    0x08008b74   0x08008b74   0x00000040   Code   RO         1400    .text.UART_DMATransmitCplt  stm32f4xx_hal_uart.o
+    0x08008bb4   0x08008bb4   0x0000000a   Code   RO         1402    .text.UART_DMATxHalfCplt  stm32f4xx_hal_uart.o
+    0x08008bbe   0x08008bbe   0x00000002   PAD
+    0x08008bc0   0x08008bc0   0x00000050   Code   RO         1418    .text.UART_EndRxTransfer  stm32f4xx_hal_uart.o
+    0x08008c10   0x08008c10   0x00000018   Code   RO         1466    .text.UART_EndTransmit_IT  stm32f4xx_hal_uart.o
+    0x08008c28   0x08008c28   0x0000001c   Code   RO         1416    .text.UART_EndTxTransfer  stm32f4xx_hal_uart.o
+    0x08008c44   0x08008c44   0x00000034   Code   RO         2410    .text.UART_Get      uart.o
+    0x08008c78   0x08008c78   0x000000c8   Code   RO         1456    .text.UART_Receive_IT  stm32f4xx_hal_uart.o
+    0x08008d40   0x08008d40   0x000000dc   Code   RO         1374    .text.UART_SetConfig  stm32f4xx_hal_uart.o
+    0x08008e1c   0x08008e1c   0x000000aa   Code   RO         1408    .text.UART_Start_Receive_DMA  stm32f4xx_hal_uart.o
+    0x08008ec6   0x08008ec6   0x00000002   PAD
+    0x08008ec8   0x08008ec8   0x00000034   Code   RO         1396    .text.UART_Start_Receive_IT  stm32f4xx_hal_uart.o
+    0x08008efc   0x08008efc   0x00000052   Code   RO         1464    .text.UART_Transmit_IT  stm32f4xx_hal_uart.o
+    0x08008f4e   0x08008f4e   0x00000002   PAD
+    0x08008f50   0x08008f50   0x00000018   Code   RO          180    .text.USART1_IRQHandler  stm32f4xx_it.o
+    0x08008f68   0x08008f68   0x00000010   Code   RO          182    .text.USART2_IRQHandler  stm32f4xx_it.o
+    0x08008f78   0x08008f78   0x00000018   Code   RO          194    .text.USART6_IRQHandler  stm32f4xx_it.o
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+    0x0800d5ee   0x0800d5ee   0x00000060   Code   RO         3282    x$fpl$ffltll        fz_wm.l(ffltll_clz.o)
+    0x0800d64e   0x0800d64e   0x0000008c   Code   RO         3395    x$fpl$fnaninf       fz_wm.l(fnaninf.o)
+    0x0800d6da   0x0800d6da   0x0000001a   Code   RO         3481    x$fpl$fpinit        fz_wm.l(fpinit.o)
+    0x0800d6f4   0x0800d6f4   0x0000000a   Code   RO         3397    x$fpl$fretinf       fz_wm.l(fretinf.o)
+    0x0800d6fe   0x0800d6fe   0x00000000   Code   RO         3399    x$fpl$usenofp       fz_wm.l(usenofp.o)
+    0x0800d6fe   0x0800d6fe   0x00000002   PAD
+    0x0800d700   0x0800d700   0x00000098   Data   RO         3403    .constdata          m_wm.l(atan.o)
+    0x0800d798   0x0800d798   0x00000008   Data   RO         3443    .constdata          m_wm.l(qnan.o)
+    0x0800d7a0   0x0800d7a0   0x00000020   Data   RO         3445    .constdata          m_wm.l(rredf.o)
+    0x0800d7c0   0x0800d7c0   0x00000010   Data   RO         1507    .rodata.AHBPrescTable  system_stm32f4xx.o
+    0x0800d7d0   0x0800d7d0   0x00000008   Data   RO         1508    .rodata.APBPrescTable  system_stm32f4xx.o
+    0x0800d7d8   0x0800d7d8   0x00000038   Data   RO         2297    .rodata.GPIO_Map    gpio_1.o
+    0x0800d810   0x0800d810   0x00000024   Data   RO         2986    .rodata.attr_ai     user_task.o
+    0x0800d834   0x0800d834   0x00000024   Data   RO         2987    .rodata.attr_atti_esti  user_task.o
+    0x0800d858   0x0800d858   0x00000024   Data   RO         2983    .rodata.attr_chassis_ctrl  user_task.o
+    0x0800d87c   0x0800d87c   0x00000024   Data   RO         2985    .rodata.attr_dr16   user_task.o
+    0x0800d8a0   0x0800d8a0   0x00000024   Data   RO         2984    .rodata.attr_gimbal_ctrl  user_task.o
+    0x0800d8c4   0x0800d8c4   0x00000024   Data   RO         2981    .rodata.attr_init   user_task.o
+    0x0800d8e8   0x0800d8e8   0x00000024   Data   RO         2988    .rodata.attr_remote  user_task.o
+    0x0800d90c   0x0800d90c   0x00000024   Data   RO         2982    .rodata.attr_shoot_ctrl  user_task.o
+    0x0800d930   0x0800d930   0x00000200   Data   RO         2539    .rodata.crc16_tab   crc16.o
+    0x0800db30   0x0800db30   0x00000024   Data   RO           39    .rodata.defaultTask_attributes  freertos.o
+    0x0800db54   0x0800db54   0x00000020   Data   RO         3003    .rodata.imu_temp_ctrl_pid_param  atti_esti.o
+    0x0800db74   0x0800db74   0x0000000c   Data   RO           38    .rodata.str1.1      freertos.o
+    0x0800db80   0x0800db80   0x00000047   Data   RO         2980    .rodata.str1.1      user_task.o
+    0x0800dbc7   0x0800dbc7   0x00000001   PAD
+    0x0800dbc8   0x0800dbc8   0x00000040   Data   RO         3586    Region$$Table       anon$$obj.o
 
 
-    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x0800dc20, Size: 0x0001b8f0, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000118])
+    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x0800dc08, Size: 0x0001b8f0, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000110])
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
@@ -8487,25 +8487,25 @@ Memory Map of the image
     0x2001a8f0        -       0x00001000   Zero   RW            2    HEAP                startup_stm32f407xx.o
 
 
-    Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x0800dd38, Size: 0x000038f0, Max: 0x00004000, ABSOLUTE)
+    Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x0800dd18, Size: 0x000038f0, Max: 0x00004000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x2001c000   0x0800dd38   0x00000004   Data   RW         1506    .data.SystemCoreClock  system_stm32f4xx.o
-    0x2001c004   0x0800dd3c   0x00000004   Data   RW         2499    .data.beta          ahrs.o
-    0x2001c008   0x0800dd40   0x00000001   Data   RW          705    .data.uwTickFreq    stm32f4xx_hal.o
-    0x2001c009   0x0800dd41   0x00000003   PAD
-    0x2001c00c   0x0800dd44   0x00000004   Data   RW          704    .data.uwTickPrio    stm32f4xx_hal.o
-    0x2001c010   0x0800dd48   0x00000004   Data   RW         2183    .data.uxCriticalNesting  port.o
-    0x2001c014   0x0800dd4c   0x00000004   PAD
+    0x2001c000   0x0800dd18   0x00000004   Data   RW         1506    .data.SystemCoreClock  system_stm32f4xx.o
+    0x2001c004   0x0800dd1c   0x00000004   Data   RW         2499    .data.beta          ahrs.o
+    0x2001c008   0x0800dd20   0x00000001   Data   RW          705    .data.uwTickFreq    stm32f4xx_hal.o
+    0x2001c009   0x0800dd21   0x00000003   PAD
+    0x2001c00c   0x0800dd24   0x00000004   Data   RW          704    .data.uwTickPrio    stm32f4xx_hal.o
+    0x2001c010   0x0800dd28   0x00000004   Data   RW         2183    .data.uxCriticalNesting  port.o
+    0x2001c014   0x0800dd2c   0x00000004   PAD
     0x2001c018        -       0x00000060   Zero   RW         3488    .bss                c_w.l(libspace.o)
     0x2001c078        -       0x00000068   Zero   RW         2268    .bss.CAN_Callback   can_1.o
     0x2001c0e0        -       0x00000020   Zero   RW         2399    .bss.SPI_Callback   spi_1.o
     0x2001c100        -       0x00000019   Zero   RW         3032    .bss.ai_g_cmd       gimbal_ctrl.o
-    0x2001c119   0x0800dd4c   0x00000003   PAD
+    0x2001c119   0x0800dd2c   0x00000003   PAD
     0x2001c11c        -       0x00000010   Zero   RW         3084    .bss.c_rc_cmd       remote.o
     0x2001c12c        -       0x00000008   Zero   RW         2918    .bss.can_managers   motor_dm.o
-    0x2001c134   0x0800dd4c   0x00000004   PAD
+    0x2001c134   0x0800dd2c   0x00000004   PAD
     0x2001c138        -       0x00000058   Zero   RW         3020    .bss.dr16           dr16_1.o
     0x2001c190        -       0x00000064   Zero   RW         3069    .bss.g_feedback     ai_1.o
     0x2001c1f4        -       0x00000014   Zero   RW         3082    .bss.g_rc_cmd       remote.o
@@ -8523,7 +8523,7 @@ Memory Map of the image
     0x2001c71c        -       0x0000003c   Zero   RW         3002    .bss.imu_temp_ctrl_pid  atti_esti.o
     0x2001c758        -       0x00000001   Zero   RW         2269    .bss.inited         can_1.o
     0x2001c759        -       0x00000001   Zero   RW         2961    .bss.inited         dr16.o
-    0x2001c75a   0x0800dd4c   0x00000002   PAD
+    0x2001c75a   0x0800dd2c   0x00000002   PAD
     0x2001c75c        -       0x0000000c   Zero   RW         3001    .bss.magn           atti_esti.o
     0x2001c768        -       0x00000004   Zero   RW         1932    .bss.prvSampleTimeNow.xLastTime  timers.o
     0x2001c76c        -       0x00000004   Zero   RW         1930    .bss.pxCurrentTimerList  timers.o
@@ -8532,10 +8532,10 @@ Memory Map of the image
     0x2001c778        -       0x00000460   Zero   RW         1856    .bss.pxReadyTasksLists  tasks.o
     0x2001cbd8        -       0x00000004   Zero   RW         2271    .bss.queue_mutex    can_1.o
     0x2001cbdc        -       0x00000003   Zero   RW         3083    .bss.s_rc_cmd       remote.o
-    0x2001cbdf   0x0800dd4c   0x00000001   PAD
+    0x2001cbdf   0x0800dd2c   0x00000001   PAD
     0x2001cbe0        -       0x00000330   Zero   RW         3058    .bss.shoot          shoot_ctrl.o
     0x2001cf10        -       0x00000003   Zero   RW         3059    .bss.shoot_cmd      shoot_ctrl.o
-    0x2001cf13   0x0800dd4c   0x00000001   PAD
+    0x2001cf13   0x0800dd2c   0x00000001   PAD
     0x2001cf14        -       0x000000ac   Zero   RW         2989    .bss.task_runtime   user_task.o
     0x2001cfc0        -       0x00000004   Zero   RW         2962    .bss.thread_alert   dr16.o
     0x2001cfc4        -       0x00000810   Zero   RW         2272    .bss.tx_queues      can_1.o
@@ -8546,7 +8546,7 @@ Memory Map of the image
     0x2001d7e4        -       0x0000005c   Zero   RW         2113    .bss.vApplicationGetTimerTaskMemory.Timer_TCB  cmsis_os2.o
     0x2001d840        -       0x00000014   Zero   RW         1934    .bss.xActiveTimerList2  timers.o
     0x2001d854        -       0x00000001   Zero   RW         2140    .bss.xBlockAllocatedBit  heap_4.o
-    0x2001d855   0x0800dd4c   0x00000003   PAD
+    0x2001d855   0x0800dd2c   0x00000003   PAD
     0x2001d858        -       0x00000014   Zero   RW         1865    .bss.xDelayedTaskList2  tasks.o
     0x2001d86c        -       0x00000004   Zero   RW         2143    .bss.xMinimumEverFreeBytesRemaining  heap_4.o
     0x2001d870        -       0x00000004   Zero   RW         1860    .bss.xNextTaskUnblockTime  tasks.o
@@ -8601,7 +8601,7 @@ Image component sizes
       2680          0          0          0         64      22592   queue.o
        176          8          0          0        127       3551   remote.o
        174          8          0          0          0       3609   remote_cmd.o
-      3056         72          0          0          5      11465   shoot.o
+      3032         72          0          0          5      11445   shoot.o
        148         12          0          0        819       5426   shoot_ctrl.o
        380          0          0          0        280       5139   spi.o
        408          0          0          0         32       8705   spi_1.o
@@ -8629,7 +8629,7 @@ Image component sizes
          0          0        359          0        172       3557   user_task.o
 
     ----------------------------------------------------------------------
-     47404        482       1488        832     126528     519762   Object Totals
+     47380        482       1488        832     126528     519742   Object Totals
          0          0         64          0          0          0   (incl. Generated)
        398          8          1          3         38          0   (incl. Padding)
 
@@ -8719,15 +8719,15 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   
 
-     54672       1098       1680        832     126624     521470   Grand Totals
-     54672       1098       1680        300     126624     521470   ELF Image Totals (compressed)
-     54672       1098       1680        300          0          0   ROM Totals
+     54648       1098       1680        832     126624     521450   Grand Totals
+     54648       1098       1680        292     126624     521450   ELF Image Totals (compressed)
+     54648       1098       1680        292          0          0   ROM Totals
 
 ==============================================================================
 
-    Total RO  Size (Code + RO Data)                56352 (  55.03kB)
+    Total RO  Size (Code + RO Data)                56328 (  55.01kB)
     Total RW  Size (RW Data + ZI Data)            127456 ( 124.47kB)
-    Total ROM Size (Code + RO Data + RW Data)      56652 (  55.32kB)
+    Total ROM Size (Code + RO Data + RW Data)      56620 (  55.29kB)
 
 ==============================================================================
 
diff --git a/MDK-ARM/Infantry/Infantry_Infantry.dep b/MDK-ARM/Infantry/Infantry_Infantry.dep
index 3fb2975..59f0cd0 100644
--- a/MDK-ARM/Infantry/Infantry_Infantry.dep
+++ b/MDK-ARM/Infantry/Infantry_Infantry.dep
@@ -2689,7 +2689,7 @@ I (..\User\component\mixer.h)(0x69606C91)
 I (..\User\module\remote_cmd.h)(0x69606160)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\device\dr16.h)(0x69606C91)
-F (..\User\module\config.c)(0x69609F1D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o infantry/config.o -MD)
+F (..\User\module\config.c)(0x6960B3A1)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o infantry/config.o -MD)
 I (..\User\component\user_math.h)(0x69606C91)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@@ -2955,7 +2955,7 @@ I (..\User\component\ahrs.h)(0x69606C91)
 I (..\User\module\gimbal.h)(0x696061CE)
 I (..\User\bsp\time.h)(0x69606C90)
 I (..\User\device\motor_dm.h)(0x69606C91)
-F (..\User\module\shoot.c)(0x6960841C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o infantry/shoot.o -MD)
+F (..\User\module\shoot.c)(0x6960B01D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o infantry/shoot.o -MD)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\module\shoot.h)(0x69588E9B)
diff --git a/MDK-ARM/Infantry/config.o b/MDK-ARM/Infantry/config.o
index 1a7f246..0ae9e61 100644
Binary files a/MDK-ARM/Infantry/config.o and b/MDK-ARM/Infantry/config.o differ
diff --git a/MDK-ARM/Infantry/shoot.o b/MDK-ARM/Infantry/shoot.o
index bd10e98..077b6db 100644
Binary files a/MDK-ARM/Infantry/shoot.o and b/MDK-ARM/Infantry/shoot.o differ
diff --git a/User/module/config.c b/User/module/config.c
index 0b434df..577f423 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -128,9 +128,9 @@ Config_RobotParam_t robot_config = {
         .basic={
           .projectileType=SHOOT_PROJECTILE_17MM,
 		      .fric_num=2,
-		      .extra_deceleration_ratio=36.0f,
+		      .extra_deceleration_ratio=1.0f,
           .num_trig_tooth=10,
-          .shot_freq=10.0f,
+          .shot_freq=20.0f,
           .shot_burst_num=5,
           .ratio_multilevel = {1.0f},
         },   
@@ -145,8 +145,8 @@ Config_RobotParam_t robot_config = {
                     .param = {
                         .can = BSP_CAN_2,
                         .id = 0x205,
-                        .module = MOTOR_M2006,
-                        .reverse = false,
+                        .module = MOTOR_M3508,
+                        .reverse = true,
                         .gear = false,
                     },
                     .level=1,
@@ -155,8 +155,8 @@ Config_RobotParam_t robot_config = {
                     .param = {
                         .can = BSP_CAN_2,
                         .id = 0x206,
-                        .module = MOTOR_M2006,
-                        .reverse = true,
+                        .module = MOTOR_M3508,
+                        .reverse = false,
                         .gear = false,
                     },
                     .level=1,
@@ -167,7 +167,7 @@ Config_RobotParam_t robot_config = {
                 .can = BSP_CAN_2,
                 .id = 0x207,
                 .module = MOTOR_M2006,
-                .reverse = false,
+                .reverse = true,
                 .gear=true,
             },
         },
@@ -193,7 +193,7 @@ Config_RobotParam_t robot_config = {
                 .range=-1.0f, 
             },
             .trig_2006 = {
-								.k = 12.0f,
+								.k = 1.0f,
 								.p = 1.0f,
 								.i = 0.0f,
 								.d = 0.0450000018f,
@@ -202,16 +202,16 @@ Config_RobotParam_t robot_config = {
 								.d_cutoff_freq = -1.0f,
 								.range = M_2PI,
             },
-            .trig_omg_2006 = {
-                .k=0.f,
-                .p=1.0f,
-                .i=0.3f,
-                .d=0.5f,
-                .i_limit=0.2f,
-                .out_limit=1.0f,
-                .d_cutoff_freq=-1.0f,
-                .range=-1.0f,
-            },
+//            .trig_omg_2006 = {
+//                .k=0.0f,
+//                .p=1.0f,
+//                .i=0.3f,
+//                .d=0.5f,
+//                .i_limit=0.2f,
+//                .out_limit=1.0f,
+//                .d_cutoff_freq=-1.0f,
+//                .range=-1.0f,
+//            },
 
         },
 		.filter={
diff --git a/User/module/shoot.c b/User/module/shoot.c
index 94db074..d97e4f9 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -382,6 +382,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 //													0,
 //													s->timer.dt);
                 s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out,s->output.outagl_trig);
+			
                 MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig);
                 
                 /* 检查状态机 */
@@ -447,11 +448,12 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 													s->var_trig.trig_agl,
 													0,
 													s->timer.dt);
-                s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,
-													s->output.outagl_trig,
-													s->var_trig.trig_rpm,
-													0,
-													s->timer.dt);
+								s->output.outomg_trig=s->output.outagl_trig;
+//                s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,
+//													s->output.outagl_trig,
+//													s->var_trig.trig_rpm,
+//													0,
+//													s->timer.dt);
                 s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
                 MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig);