diff --git a/MDK-ARM/DevC.uvoptx b/MDK-ARM/DevC.uvoptx
index 34a4f76..2d1aa52 100644
--- a/MDK-ARM/DevC.uvoptx
+++ b/MDK-ARM/DevC.uvoptx
@@ -887,7 +887,7 @@
       <GroupNumber>7</GroupNumber>
       <FileNumber>55</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c</PathWithFileName>
diff --git a/MDK-ARM/DevC/DevC.axf b/MDK-ARM/DevC/DevC.axf
index 94ad08a..8d00e24 100644
Binary files a/MDK-ARM/DevC/DevC.axf and b/MDK-ARM/DevC/DevC.axf differ
diff --git a/MDK-ARM/DevC/DevC.hex b/MDK-ARM/DevC/DevC.hex
index 8e6a20f..e3cb067 100644
--- a/MDK-ARM/DevC/DevC.hex
+++ b/MDK-ARM/DevC/DevC.hex
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diff --git a/User/module/config.c b/User/module/config.c
index ddb4f6c..3f4c4a1 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -13,7 +13,8 @@
 /* Private variables -------------------------------------------------------- */
 
 /* Exported variables ------------------------------------------------------- */
-
+/* 全局电机调试使能标志位，1：正常输出；0：强制禁用 */
+volatile uint8_t g_debug_motor_enable = 0;
 /**
  * @brief 机器人参数配置
  * @note 在此配置机器人参数
diff --git a/User/module/config.h b/User/module/config.h
index 87913d8..3dcdefa 100644
--- a/User/module/config.h
+++ b/User/module/config.h
@@ -12,6 +12,8 @@ extern "C" {
 #include <stdbool.h>
 #include "module/shoot.h"
 #include "module/gimbal.h"
+
+extern volatile uint8_t g_debug_motor_enable;
 // #include "device/vision_bridge.h"
 /**
  * @brief 机器人参数配置结构体
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index f413db5..e63fa98 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -11,7 +11,7 @@
 #include "component/pid.h"
 #include "device/motor_dm.h"
 #include "device/motor_rm.h"
-
+#include "module/config.h"
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
@@ -42,13 +42,7 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
   MOTOR_DM_Enable(&(g->param->pit_motor));
   
   AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
-  // if (g->mode == GIMBAL_MODE_RELAX) {
-  //   if (mode == GIMBAL_MODE_ABSOLUTE) {
-  //     g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
-  //   } else if (mode == GIMBAL_MODE_RELATIVE) {
-  //     g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
-  //   }
-  // }
+
   g->setpoint.eulr.pit = g->feedback.imu.eulr.rol;
   g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
 
@@ -159,8 +153,21 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
 
   Gimbal_SetMode(g, g_cmd->mode);
 
-  /* 处理yaw控制命令，软件限位 - 使用电机绝对角度 */
-  float delta_yaw = g_cmd->delta_yaw * g->dt * 1.5f;
+  /* --- 计算目标增量：兼容手动模式与火控托管模式 --- */
+  float delta_yaw = 0.0f;
+  float delta_pit = 0.0f;
+
+  if (g->mode == GIMBAL_MODE_AUTO_AIM && g_cmd->vision.target_found) {
+    /* 火控模式且目标已锁定：计算视觉目标角度与当前设定值的偏差 */
+    delta_yaw = CircleError(g_cmd->vision.yaw, g->setpoint.eulr.yaw, M_2PI);
+    delta_pit = CircleError(g_cmd->vision.pit, g->setpoint.eulr.pit, M_2PI);
+  } else {
+    /* 常规模式或火控模式下目标丢失：使用操作手遥控器增量 */
+    delta_yaw = g_cmd->delta_yaw * g->dt * 1.5f;
+    delta_pit = g_cmd->delta_pit * g->dt;
+  }
+
+  /* --- 处理yaw控制命令，软件限位 - 使用电机绝对角度 --- */
   if (g->param->travel.yaw > 0) {
     /* 计算当前电机角度与IMU角度的偏差 */
     float motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
@@ -190,8 +197,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
   }
   CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI);
 
-  /* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */
-  float delta_pit = g_cmd->delta_pit * g->dt;
+  /* --- 处理pitch控制命令，软件限位 - 使用电机绝对角度 --- */
   if (g->param->travel.pit > 0) {
     /* 计算当前电机角度与IMU角度的偏差 */
     float motor_imu_offset = g->feedback.motor.pit.rotor_abs_angle - g->feedback.imu.eulr.rol;
@@ -211,7 +217,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
   }
   CircleAdd(&(g->setpoint.eulr.pit), delta_pit, M_2PI);
 
-  /* 控制相关逻辑 */
+  /* --- 控制相关逻辑（PID闭环计算） --- */
   float yaw_omega_set_point, pit_omega_set_point;
   switch (g->mode) {
   case GIMBAL_MODE_RELAX:
@@ -219,10 +225,11 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
     g->out.pit = 0.0f;
     break;
 
+  case GIMBAL_MODE_AUTO_AIM: /* 火控模式与绝对模式共用相同的空间系PID闭环 */
   case GIMBAL_MODE_ABSOLUTE:
     yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
                                    g->feedback.imu.eulr.yaw, 0.0f, g->dt);
-    g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
+    g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
                           g->feedback.imu.gyro.z, 0.f, g->dt);
 
     pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
@@ -252,10 +259,21 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
    * \param out CAN设备云台输出结构体
    */
 void Gimbal_Output(Gimbal_t *g){
+  if (g_debug_motor_enable) {
+    /* 标志位为1：正常工作时的输出逻辑 */
     MOTOR_RM_SetOutput(&g->param->yaw_motor, g->out.yaw);
     MOTOR_MIT_Output_t output = {0};
     output.torque = g->out.pit * 3.0f; // 乘以减速比
     output.kd = 0.3f;
+    MOTOR_RM_Ctrl(&g->param->yaw_motor);
+    MOTOR_DM_MITCtrl(&g->param->pit_motor, &output);
+  } else {
+    /* 标志位为0：强制禁用逻辑，避免断线报错 */
+    MOTOR_RM_SetOutput(&g->param->yaw_motor, 0.0f); // 大疆电机强制0电流
+    
+    MOTOR_MIT_Output_t output = {0}; // 达妙MIT模式全零初始化 (位置/速度/扭矩/kp/kd 均为0)
+    
     MOTOR_RM_Ctrl(&g->param->yaw_motor);
     MOTOR_DM_MITCtrl(&g->param->pit_motor, &output);
   }
+}
\ No newline at end of file
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index dcc1220..8637409 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -15,6 +15,8 @@ extern "C" {
 #include "device/motor.h"
 #include "device/motor_dm.h"
 #include "device/motor_rm.h"
+#include <stdint.h>
+#include <stdbool.h>
 
 /* Exported constants ------------------------------------------------------- */
 #define GIMBAL_OK (0)        /* 运行正常 */
@@ -29,12 +31,21 @@ typedef enum {
   GIMBAL_MODE_RELAX,    /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
   GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
   GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
+  GIMBAL_MODE_AUTO_AIM, /* 火控系统托管模式，接收上位机或视觉算法指令 */
 } Gimbal_Mode_t;
 
+/* --- 新增：视觉/AI数据结构 --- */
+typedef struct {
+  float yaw;            /* 视觉解算出的空间目标绝对 Yaw 角度 */
+  float pit;            /* 视觉解算出的空间目标绝对 Pitch 角度 */
+  uint8_t target_found; /* 视觉是否已锁定目标 (0: 未锁定, 1: 锁定) */
+} Gimbal_Vision_t;
+
 typedef struct {
   Gimbal_Mode_t mode;
   float delta_yaw;
   float delta_pit;
+  Gimbal_Vision_t vision; /* 新增：包含视觉/AI控制数据 */
 } Gimbal_CMD_t;
 
 /* 软件限位 */
@@ -76,6 +87,7 @@ typedef struct {
   AHRS_Gyro_t gyro;
   AHRS_Eulr_t eulr;
 } Gimbal_IMU_t;
+
 /* 云台反馈数据的结构体，包含反馈控制用的反馈数据 */
 typedef struct {
   Gimbal_IMU_t imu;
@@ -90,6 +102,7 @@ typedef struct {
   float yaw; /* yaw轴电机输出 */
   float pit; /* pitch轴电机输出 */
 } Gimbal_Output_t;
+
 /*
  * 运行的主结构体，所有这个文件里的函数都在操作这个结构体。
  * 包含了初始化参数，中间变量，输出变量。
@@ -155,13 +168,12 @@ int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param,
 int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal);
 
 int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu);
+
 /**
  * \brief 运行云台控制逻辑
  *
  * \param g 包含云台数据的结构体
- * \param fb 云台反馈信息
  * \param g_cmd 云台控制指令
- * \param dt_sec 两次调用的时间间隔
  *
  * \return 函数运行结果
  */
@@ -170,11 +182,10 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd);
 /**
  * \brief 云台输出
  *
- * \param s 包含云台数据的结构体
- * \param out CAN设备云台输出结构体
+ * \param g 包含云台数据的结构体
  */
 void Gimbal_Output(Gimbal_t *g);
 
 #ifdef __cplusplus
 }
-#endif
+#endif
\ No newline at end of file
diff --git a/User/module/shoot.c b/User/module/shoot.c
index 25373f3..ed388e9 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -6,7 +6,7 @@
 #include <math.h>
 #include "bsp/time.h"
 #include "device/motor_rm.h"
-
+#include "module/config.h"
 static bool last_firecmd;
 
 static inline void ScaleSumTo1(float *a, float *b) {
@@ -289,6 +289,13 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
                 break;
         }
     }
+    if (!g_debug_motor_enable) {
+        for(int i=0;i<SHOOT_FRIC_NUM;i++) {
+            MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], 0.0f); // 摩擦轮强制 0 电流
+        }
+        MOTOR_RM_SetOutput(&s->param->trig_motor_param, 0.0f);        // 拨弹电机强制 0 电流
+    }
+
 	MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]);
     last_firecmd = cmd->firecmd;
     return 0;
diff --git a/User/task/ai.c b/User/task/ai.c
index 942bcac..e1a91d8 100644
--- a/User/task/ai.c
+++ b/User/task/ai.c
@@ -21,7 +21,7 @@
 #define ID_MCU (0xC4)  // MCU 数据包 (发送)
 #define ID_REF (0xA8)  // 裁判系统数据包 (发送)
 #define ID_AI  (0xB5)  // AI 控制数据包 (接收)
-
+extern uint8_t AI_mode;      // AI 模式变量，供其他模块查询当前AI控制模式
 // MCU 数据结构（MCU -> 上位机）
 typedef struct __attribute__((packed)) {
     uint8_t mode;           // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符
@@ -81,38 +81,41 @@ static void AI_RxCpltCallback(void) {
         if (CRC16_Verify(ai_rx_buf, sizeof(PackageAI_t))) {
             memcpy(&ai_rx_data, ai_rx_buf, sizeof(PackageAI_t));
             
-            Gimbal_CMD_t ai_gimbal_cmd;
-            Shoot_CMD_t ai_shoot_cmd;
+            /* --- 修复 2：务必初始化局部变量 --- */
+            Gimbal_Vision_t vision_data;
+            memset(&vision_data, 0, sizeof(Gimbal_Vision_t));
             
-            /* 1. 解析指令并生成系统控制信号 */
+            Shoot_CMD_t ai_shoot_cmd;
+            memset(&ai_shoot_cmd, 0, sizeof(Shoot_CMD_t)); // 防止野指针走火
+            
+            /* --- 修复 1 & 3：正确赋值视觉结构体 --- */
             switch (ai_rx_data.data.mode) {
                 case 0: /* 不控制 */
-                    ai_gimbal_cmd.mode = GIMBAL_MODE_RELAX;
-                    // ai_shoot_cmd.mode = SHOOT_MODE_STOP; /* 需根据实际枚举名称修改 */
+                    vision_data.target_found = 0;
+                    // ai_shoot_cmd.mode = SHOOT_MODE_STOP; 
                     break;
                 case 1: /* 控制云台但不开火 */
-                    ai_gimbal_cmd.mode = GIMBAL_MODE_ABSOLUTE;
-                    // ai_shoot_cmd.mode = SHOOT_MODE_READY; /* 摩擦轮开启，不拨弹 */
+                    vision_data.target_found = 1;
+                    vision_data.yaw = ai_rx_data.data.yaw;
+                    vision_data.pit = ai_rx_data.data.pitch;
+                    // ai_shoot_cmd.mode = SHOOT_MODE_READY; 
                     break;
                 case 2: /* 控制云台且开火 */
-                    ai_gimbal_cmd.mode = GIMBAL_MODE_ABSOLUTE;
-                    // ai_shoot_cmd.mode = SHOOT_MODE_FIRE;  /* 摩擦轮开启，拨弹 */
+                    vision_data.target_found = 1;
+                    vision_data.yaw = ai_rx_data.data.yaw;
+                    vision_data.pit = ai_rx_data.data.pitch;
+                    // ai_shoot_cmd.mode = SHOOT_MODE_FIRE; 
                     break;
                 default:
-                    ai_gimbal_cmd.mode = GIMBAL_MODE_RELAX;
+                    vision_data.target_found = 0;
                     break;
             }
-
-            /* 云台位姿控制信号赋值 (假设协议中发下来的 yaw/pitch 直接作为速度增量) */
-            ai_gimbal_cmd.delta_yaw = ai_rx_data.data.yaw;
-            ai_gimbal_cmd.delta_pit = ai_rx_data.data.pitch;
             
-            /* 2. 将命令压入控制队列（非阻塞） */
-            osMessageQueuePut(msgq.gimbal.cmd, &ai_gimbal_cmd, 0, 0);
+            /* 将视觉数据发送到专属队列，不与遥控器命令冲突 */
+            osMessageQueuePut(task_runtime.msgq.vision.data, &vision_data, 0, 0);
             
-            // 注意：若 ctrl_shoot.c 中使用的是 task_runtime.msgq.shoot.shoot_cmd，
-            // 则替换为该全局结构体的队列句柄。此处采用常规 msgq 定义示范：
-            osMessageQueuePut(msgq.shoot.shoot_cmd, &ai_shoot_cmd, 0, 0);
+            /* 将发射指令发送到发射队列 (确保枚举名称与shoot.h对应后解开注释) */
+            // osMessageQueuePut(task_runtime.msgq.shoot.shoot_cmd, &ai_shoot_cmd, 0, 0);
         }
     }
     /* 重新开启DMA定长接收 */
@@ -124,13 +127,13 @@ static void AI_RxCpltCallback(void) {
  */
 static void AI_Send_MCU_Data(void) {
     PackageMCU_t tx_pkg;
-    quat_t current_quat;
+    AHRS_Quaternion_t current_quat;
 
     tx_pkg.id = ID_MCU;
     memset(&tx_pkg.data, 0, sizeof(DataMCU_t));
     
     /* 1. 获取四元数 (从消息队列读取) */
-    if (osMessageQueueGet(msgq.ai.quat, &current_quat, NULL, 0) == osOK) {
+    if (osMessageQueueGet(task_runtime.msgq.ai.quat, &current_quat, NULL, 0) == osOK) {
         tx_pkg.data.q[0] = current_quat.q0;
         tx_pkg.data.q[1] = current_quat.q1;
         tx_pkg.data.q[2] = current_quat.q2;
@@ -145,15 +148,15 @@ static void AI_Send_MCU_Data(void) {
     
     /* 3. 获取发射机构与模式状态 (直接读取全局 shoot 结构体) */
     /* 模式回传，取值为实际枚举映射 */
-    tx_pkg.data.mode = (uint8_t)shoot.mode; 
-    
+    //tx_pkg.data.mode = (uint8_t)shoot.mode; 
+    tx_pkg.data.mode = AI_mode; /* 直接回传当前AI模式，供上位机显示 */
     /* 弹速反馈：由于硬件可能无法直接测弹速，暂用摩擦轮目标转速或估算转速代替。
        若接入了裁判系统，应替换为裁判系统下发的真实弹速。 */
     tx_pkg.data.bullet_speed = shoot.target_variable.target_rpm; 
     
     /* 弹量统计：如有独立计数变量，可进行赋值 */
-    // tx_pkg.data.bullet_count = shoot.feedback.xxxx; 
-
+    //tx_pkg.data.bullet_count = shoot.feedback.xxxx; 
+    tx_pkg.data.bullet_count = -1;
     /* 4. 计算 CRC16（扣除末尾 2 字节） */
     tx_pkg.crc16 = CRC16_Calc((const uint8_t *)&tx_pkg, sizeof(PackageMCU_t) - 2, CRC16_INIT);
     
diff --git a/User/task/atti_esti.c b/User/task/atti_esti.c
index 18434bc..b04750e 100644
--- a/User/task/atti_esti.c
+++ b/User/task/atti_esti.c
@@ -87,10 +87,10 @@ void Task_atti_esti(void *argument) {
     // &gimbal_ahrs.quat: 四元数结构体地址
     // 0: 消息优先级
     // 0: 不等待，如果队列满了直接跳过（保证实时性）
-    osMessageQueuePut(msgq.ai.quat, &gimbal_ahrs.quat, 0, 0);
+    osMessageQueuePut(task_runtime.msgq.ai.quat, &gimbal_ahrs.quat, 0, 0);
 
     // 如果 AI 任务还需要欧拉角，也可以发送欧拉角队列
-    osMessageQueuePut(msgq.ai.eulr, &eulr_to_send, 0, 0);
+    osMessageQueuePut(task_runtime.msgq.ai.eulr, &eulr_to_send, 0, 0);
     BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 40.5f,
                                                     bmi088.temp, 0.0f, 0.0f));
 
diff --git a/User/task/ctrl_gimbal.c b/User/task/ctrl_gimbal.c
index 4bf4999..50dd596 100644
--- a/User/task/ctrl_gimbal.c
+++ b/User/task/ctrl_gimbal.c
@@ -24,39 +24,57 @@ Gimbal_CMD_t gimbal_cmd;
 /* Private function --------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
 void Task_ctrl_gimbal(void *argument) {
-  (void)argument; /* 未使用argument，消除警告 */
-
-  
-  /* 计算任务运行到指定频率需要等待的tick数 */
+  (void)argument;
   const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_GIMBAL_FREQ;
+  osDelay(CTRL_GIMBAL_INIT_DELAY);
+  uint32_t tick = osKernelGetTickCount();
 
-  osDelay(CTRL_GIMBAL_INIT_DELAY); /* 延时一段时间再开启任务 */
-
-  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
-  /* USER CODE INIT BEGIN */
   Gimbal_Init(&gimbal, &Config_GetRobotParam()->gimbal_param, CTRL_GIMBAL_FREQ);
-  /* USER CODE INIT END */
+  
+  /* 缓存最近一次收到的有效视觉数据 */
+  static Gimbal_Vision_t last_vision_data = {0}; 
+  
+  /* 新增：记录最后一次收到有效视觉数据的时间戳 */
+  static uint32_t last_vision_update_tick = 0; 
+  /* 新增：视觉断线超时阈值，此处设置为 100ms */
+  const uint32_t vision_timeout_ticks = osKernelGetTickFreq() / 10; 
   
   while (1) {
-    tick += delay_tick; /* 计算下一个唤醒时刻 */
-    /* USER CODE BEGIN */
+    tick += delay_tick;
+
+    /* 1. 更新 IMU 数据 */
     if (osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0) == osOK) {
       Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
     }
+
+    /* 2. 更新基础控制指令（这会覆盖全局 gimbal_cmd，丢失其内部的 vision 数据） */
     osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0);
 
+    /* 3. 获取并缓存 AI 视觉信号，增加超时判断逻辑 */
+    Gimbal_Vision_t current_vision;
+    if (osMessageQueueGet(task_runtime.msgq.vision.data, &current_vision, NULL, 0) == osOK) {
+      last_vision_data = current_vision; /* 有新视觉包时更新缓存 */
+      last_vision_update_tick = osKernelGetTickCount(); /* 更新收到数据的时间戳 */
+    } else {
+      /* 未收到新数据时，检查是否超时断线 */
+      if ((osKernelGetTickCount() - last_vision_update_tick) > vision_timeout_ticks) {
+        last_vision_data.target_found = 0; /* 超时强制视为目标丢失 */
+        /* 将缓存的 yaw/pit 角度清零，避免残留脏数据干扰 */
+        last_vision_data.yaw = 0.0f;
+        last_vision_data.pit = 0.0f;
+      }
+    }
 
+    /* 4. 强制将缓存的视觉数据挂载到当前的控制指令中 */
+    gimbal_cmd.vision = last_vision_data;
+
+    /* 5. 执行云台计算与输出 */
     Gimbal_UpdateFeedback(&gimbal);
-
-    // osMessageQueueReset(task_runtime.msgq.chassis_yaw);
     osMessageQueuePut(task_runtime.msgq.chassis.yaw, &gimbal.feedback.motor.yaw, 0, 0);
     
     Gimbal_Control(&gimbal, &gimbal_cmd);
-
     Gimbal_Output(&gimbal);
 
-    /* USER CODE END */
-    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+    osDelayUntil(tick);
   }
-  
 }
\ No newline at end of file
diff --git a/User/task/ctrl_shoot.c b/User/task/ctrl_shoot.c
index eed31a6..e2909b0 100644
--- a/User/task/ctrl_shoot.c
+++ b/User/task/ctrl_shoot.c
@@ -17,6 +17,9 @@
 /* USER STRUCT BEGIN */
 Shoot_t shoot;
 Shoot_CMD_t shoot_cmd;
+extern Gimbal_CMD_t ai_gimbal_cmd;
+extern Shoot_CMD_t ai_shoot_cmd;
+extern uint8_t AI_mode;      // AI 模式变量，供其他模块查询当前AI控制模式
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
diff --git a/User/task/rc.c b/User/task/rc.c
index b7bfd09..579fcec 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -19,6 +19,7 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
+uint8_t AI_mode;      // AI 模式变量，供其他模块查询当前AI控制模式
 DR16_t dr16;
 Shoot_CMD_t for_shoot;
 Gimbal_CMD_t cmd_for_gimbal;
@@ -59,21 +60,25 @@ void Task_rc(void *argument) {
       cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
       cmd_for_gimbal.delta_yaw = 0.0f;
       cmd_for_gimbal.delta_pit = 0.0f;
+      AI_mode = 0; /* AI 模式：空闲 */
       break;
     case DR16_SW_MID:
       cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
       cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f;
       cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
+      AI_mode = 0; /* AI 模式：空闲 */
       break;
     case DR16_SW_DOWN:
-      cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+      cmd_for_gimbal.mode = GIMBAL_MODE_AUTO_AIM;
       cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f;
       cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
+      AI_mode = 1; /* AI 模式：自动瞄准 */
       break;
     default:
       cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
       cmd_for_gimbal.delta_yaw = 0.0f;
       cmd_for_gimbal.delta_pit = 0.0f;
+      AI_mode = 0; /* AI 模式：空闲 */
       break;
     }
 
diff --git a/User/task/user_task.h b/User/task/user_task.h
index adb5298..7e3366b 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -74,6 +74,10 @@ typedef struct {
             osMessageQueueId_t eulr;
             osMessageQueueId_t fire;
         }ai;
+        /* --- 新增：视觉/AI数据消息队列 --- */
+        struct {
+            osMessageQueueId_t data; 
+        }vision;
     } msgq;
     /* USER MESSAGE END */