diff --git a/MDK-ARM/DevC.uvoptx b/MDK-ARM/DevC.uvoptx
index 968705f..7c6b1be 100644
--- a/MDK-ARM/DevC.uvoptx
+++ b/MDK-ARM/DevC.uvoptx
@@ -188,12 +188,12 @@
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>\\DevC\../User/module/config.c\robot_config.gimbal_param.mech_zero.pit</ItemText>
+          <ItemText>tx_pkg</ItemText>
         </Ww>
         <Ww>
           <count>7</count>
           <WinNumber>1</WinNumber>
-          <ItemText>BSP_UART_AI</ItemText>
+          <ItemText>tx_pkg</ItemText>
         </Ww>
         <Ww>
           <count>8</count>
@@ -203,14 +203,81 @@
         <Ww>
           <count>9</count>
           <WinNumber>1</WinNumber>
-          <ItemText>tx_pkg</ItemText>
+          <ItemText>task_runtime</ItemText>
         </Ww>
         <Ww>
           <count>10</count>
           <WinNumber>1</WinNumber>
-          <ItemText>tx_pkg</ItemText>
+          <ItemText>gimbal_imu_to_send</ItemText>
+        </Ww>
+        <Ww>
+          <count>11</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>gimbal_ahrs</ItemText>
+        </Ww>
+        <Ww>
+          <count>12</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ai_rx_data</ItemText>
+        </Ww>
+        <Ww>
+          <count>13</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ai_rx_buf</ItemText>
+        </Ww>
+        <Ww>
+          <count>14</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ai_rx_buf</ItemText>
+        </Ww>
+        <Ww>
+          <count>15</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>vision_data</ItemText>
+        </Ww>
+        <Ww>
+          <count>16</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>vision_data1</ItemText>
+        </Ww>
+        <Ww>
+          <count>17</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>gimbal_cmd</ItemText>
+        </Ww>
+        <Ww>
+          <count>18</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>last_vision_data</ItemText>
+        </Ww>
+        <Ww>
+          <count>19</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>last_vision_update_tick</ItemText>
+        </Ww>
+        <Ww>
+          <count>20</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>last_vision_update_tick</ItemText>
+        </Ww>
+        <Ww>
+          <count>21</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>fan</ItemText>
         </Ww>
       </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>vision_data1</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>gimbal</ItemText>
+        </Ww>
+      </WatchWindow2>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
diff --git a/MDK-ARM/DevC.uvprojx b/MDK-ARM/DevC.uvprojx
index dae110f..44327f5 100644
--- a/MDK-ARM/DevC.uvprojx
+++ b/MDK-ARM/DevC.uvprojx
@@ -315,7 +315,7 @@
           </ArmAdsMisc>
           <Cads>
             <interw>1</interw>
-            <Optim>4</Optim>
+            <Optim>1</Optim>
             <oTime>0</oTime>
             <SplitLS>0</SplitLS>
             <OneElfS>1</OneElfS>
diff --git a/MDK-ARM/DevC/DevC.axf b/MDK-ARM/DevC/DevC.axf
index 82163e7..d80f477 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 083e811..d8e6eed 100644
--- a/MDK-ARM/DevC/DevC.hex
+++ b/MDK-ARM/DevC/DevC.hex
@@ -1,5847 +1,8019 @@
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 :00000001FF
diff --git a/User/bsp/uart.c b/User/bsp/uart.c
index d8f8b6b..dc1f9e1 100644
--- a/User/bsp/uart.c
+++ b/User/bsp/uart.c
@@ -160,4 +160,33 @@ int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma)
 
 /* USER FUNCTION BEGIN */
 
+
+/**
+ * @brief  开启串口空闲中断 + DMA 接收
+ * @note   调用 HAL 库原生的接收函数，配合自定义的 IDLE 中断处理使用
+ */
+int8_t BSP_UART_Receive_IDLE(BSP_UART_t uart, uint8_t *data, uint16_t size) {
+  if (uart >= BSP_UART_NUM) return BSP_ERR;
+  if (data == NULL || size == 0) return BSP_ERR_NULL;
+
+  /* 使用标准 DMA 接收，IDLE 标志将在你的 BSP_UART_IRQHandler 中被处理 */
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(uart), data, size) != HAL_OK) {
+    return BSP_ERR;
+  }
+  return BSP_OK;
+}
+
+/**
+ * @brief  获取 DMA 当前实际接收到的数据长度
+ * @param  max_size 开启 DMA 接收时传入的最大缓冲区长度
+ */
+uint16_t BSP_UART_GetRxCount(BSP_UART_t uart, uint16_t max_size) {
+  UART_HandleTypeDef *huart = BSP_UART_GetHandle(uart);
+  if (huart == NULL || huart->hdmarx == NULL) return 0;
+  
+  /* 实际接收长度 = 缓冲区总容量 - DMA通道剩余未传输数据量 */
+  return max_size - __HAL_DMA_GET_COUNTER(huart->hdmarx);
+}
+
+
 /* USER FUNCTION END */
\ No newline at end of file
diff --git a/User/bsp/uart.h b/User/bsp/uart.h
index 0e0cb72..e007370 100644
--- a/User/bsp/uart.h
+++ b/User/bsp/uart.h
@@ -62,7 +62,8 @@ int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma
 int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma);
 
 /* USER FUNCTION BEGIN */
-
+int8_t BSP_UART_Receive_IDLE(BSP_UART_t uart, uint8_t *data, uint16_t size);
+uint16_t BSP_UART_GetRxCount(BSP_UART_t uart, uint16_t max_size);
 /* USER FUNCTION END */
 
 #ifdef __cplusplus
diff --git a/User/module/config.c b/User/module/config.c
index 9a7def4..7cf6d8d 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -36,7 +36,7 @@ Config_RobotParam_t robot_config = {
             },
             .yaw_angle = {
                 .k = 7.0f,
-                .p = 3.5f,
+                .p = 5.5f,
                 .i = 0.0f,
                 .d = 0.0f,
                 .i_limit = 0.0f,
@@ -56,21 +56,21 @@ Config_RobotParam_t robot_config = {
             },
             .pit_angle = {
                 .k = 2.5f,
-                .p = 5.0f,
-                .i = 0.2f,
-                .d = 0.01f,
-                .i_limit = 0.0f,
-                .out_limit = 10.0f,
+                .p = 1.0f,
+                .i = 0.5f,
+                .d = 0.0f,
+                .i_limit = 0.5f,
+                .out_limit = 5.2f,
                 .d_cutoff_freq = -1.0f,
                 .range = M_2PI,
             },
         },
         .mech_zero = {
-            .yaw = 2.9f,
+            .yaw = 3.0f,
             .pit = 1.39f,
         },
         .travel = {
-            .yaw = 1.0f,
+            .yaw = 0.8f,
             .pit = 1.2f,
         },
         .low_pass_cutoff_freq = {
@@ -104,7 +104,7 @@ Config_RobotParam_t robot_config = {
 
 
     .shoot_param = {
-            .trig_step_angle=M_2PI/7.8,
+            .trig_step_angle=M_2PI/8,
             .shot_delay_time=0.08f,
             .shot_burst_num=1,
             .fric_motor_param[0] = {
@@ -134,7 +134,7 @@ Config_RobotParam_t robot_config = {
                 .i=0.0f,
                 .d=0.0f,
                 .i_limit=0.0f,
-                .out_limit=0.9f, 
+                .out_limit=0.3f, 
                 .d_cutoff_freq=30.0f,
                 .range=-1.0f,
             },
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index f96fab0..39f63a6 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -18,8 +18,11 @@
 /* Private variables -------------------------------------------------------- */
 /* Private function  -------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
-#define YAW_MAX_OUTPUT   0.3f      /* Yaw轴(大疆电机)最大输出比例限制，范围：0.0 到 1.0 */
-#define PIT_MAX_TORQUE   1.0f      /* Pitch轴(达妙电机)最大扭矩限制，单位：N·m (请根据实际情况调整) */
+#define YAW_MAX_OUTPUT   0.8f      /* Yaw轴(大疆电机)最大输出比例限制，范围：0.0 到 1.0 */
+#define PIT_MAX_TORQUE   2.0f      /* Pitch轴(达妙电机)最大扭矩限制，单位：N·m (请根据实际情况调整) */
+static LowPassFilter2p_t vision_yaw_lpf;
+static LowPassFilter2p_t vision_pit_lpf;
+static uint8_t is_vision_lpf_init = 0;
 /**
  * \brief 设置云台模式
  *
@@ -136,12 +139,12 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu){
   gimbal->feedback.imu.eulr = imu->eulr;
   return 0;
 }
-
+int fan = 0;
 /**
- * \brief 运行云台控制逻辑
+ * \brief 运行云台控制逻辑（集成 AI 速度前馈）
  *
  * \param g 包含云台数据的结构体
- * \param g_cmd 云台控制指令
+ * \param g_cmd 云台控制指令（包含遥控器增量及视觉数据）
  *
  * \return 函数运行结果
  */
@@ -150,98 +153,96 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
     return -1;
   }
 
+  /* 更新时间步长 */
   g->dt = (BSP_TIME_Get_us() - g->lask_wakeup) / 1000000.0f;
   g->lask_wakeup = BSP_TIME_Get_us();
 
+  /* 模式切换处理 */
   Gimbal_SetMode(g, g_cmd->mode);
 
-  /* --- 计算目标增量：兼容手动模式与火控托管模式 --- */
+  /* --- 1. 计算目标设定值增量 --- */
   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);
+		delta_yaw = CircleError((g_cmd->vision.yaw), g->setpoint.eulr.yaw, M_2PI);
+		if (fan)  delta_pit = CircleError((g_cmd->vision.pit), g->setpoint.eulr.pit, M_2PI);
+		else  delta_pit = CircleError((g_cmd->vision.pit), g->setpoint.eulr.pit, 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 --- */
+  /* --- 2. 软件限位处理 (Yaw) --- */
   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;
-    /* 处理跨越±π的情况 */
     if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
     if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
     
-    /* 计算到限位边界的距离 */
-    const float delta_max = CircleError(g->limit.yaw.max,
-        (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
-    const float delta_min = CircleError(g->limit.yaw.min,
-        (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
+    const float delta_max = CircleError(g->limit.yaw.max, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
+    const float delta_min = CircleError(g->limit.yaw.min, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
     
-    /* 限制控制命令 */
     if (delta_yaw > delta_max) delta_yaw = delta_max;
     if (delta_yaw < delta_min) delta_yaw = delta_min;
-  } else {
-    /* 无限位时直接使用电机绝对角度进行限位 */
-    float current_motor_angle = g->feedback.motor.yaw.rotor_abs_angle;
-    float target_angle = g->setpoint.eulr.yaw + delta_yaw;
-    
-    /* 归一化角度到[-π, π] */
-    while (target_angle > M_PI) target_angle -= M_2PI;
-    while (target_angle < -M_PI) target_angle += M_2PI;
-    while (current_motor_angle > M_PI) current_motor_angle -= M_2PI;
-    while (current_motor_angle < -M_PI) current_motor_angle += M_2PI;
   }
   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 --- */
+  /* --- 3. 软件限位处理 (Pitch) --- */
   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;
-    /* 处理跨越±π的情况 */
     if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
     if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
     
-    /* 计算到限位边界的距离 */
-    const float delta_max = CircleError(g->limit.pit.max,
-        (g->setpoint.eulr.pit + motor_imu_offset + delta_pit), M_2PI);
-    const float delta_min = CircleError(g->limit.pit.min,
-        (g->setpoint.eulr.pit + motor_imu_offset + delta_pit), M_2PI);
+    const float delta_max = CircleError(g->limit.pit.max, (g->setpoint.eulr.pit + motor_imu_offset + delta_pit), M_2PI);
+    const float delta_min = CircleError(g->limit.pit.min, (g->setpoint.eulr.pit + motor_imu_offset + delta_pit), M_2PI);
     
-    /* 限制控制命令 */
     if (delta_pit > delta_max) delta_pit = delta_max;
     if (delta_pit < delta_min) delta_pit = delta_min;
   }
   CircleAdd(&(g->setpoint.eulr.pit), delta_pit, M_2PI);
 
-  /* --- 控制相关逻辑（PID闭环计算） --- */
+  /* --- 4. 闭环控制计算 (串级 PID + 前馈) --- */
   float yaw_omega_set_point, pit_omega_set_point;
+  float yaw_v_ff = 0.0f, pit_v_ff = 0.0f;
+
   switch (g->mode) {
   case GIMBAL_MODE_RELAX:
     g->out.yaw = 0.0f;
     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_AUTO_AIM:
+    /* 如果视觉在线，提取前馈项 */
+    if (g_cmd->vision.target_found) {
+			g->setpoint.eulr.pit=g_cmd->vision.pit;
+        /* 前馈系数建议放在参数结构体中，此处使用 1.0f 作为默认增益 */
+        yaw_v_ff = g_cmd->vision.yaw_v_ff * 0.2f; 
+        pit_v_ff = g_cmd->vision.pit_v_ff * 0.2f;
+    }
+    /* 顺延执行 PID 计算 */
   case GIMBAL_MODE_ABSOLUTE:
+    /* Yaw 轴：角度环 -> 速度环 + 前馈 */
     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.yaw_omega), yaw_omega_set_point,
-                          g->feedback.imu.gyro.z, 0.f, g->dt);
+                          g->feedback.imu.gyro.z, 0.f, g->dt) + yaw_v_ff;
 
+    /* Pitch 轴：角度环 -> 速度环 + 前馈 */
     pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
                                    g->feedback.imu.eulr.rol, 0.0f, g->dt);
     g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
-                          g->feedback.imu.gyro.y, 0.f, g->dt);
+                          g->feedback.imu.gyro.y, 0.f, g->dt) + pit_v_ff;
+	  if (g->mode == GIMBAL_MODE_AUTO_AIM && g_cmd->vision.target_found) {
+			g->out.pit=-g->out.pit;
+		}
     break;
 
   case GIMBAL_MODE_RELATIVE:
-    /* 相对模式暂未实现 */
     g->out.yaw = 0.0f;
     g->out.pit = 0.0f;
     break;
@@ -253,7 +254,134 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
 
   return 0;
 }
+/**
+ * \brief 运行云台控制逻辑（集成 AI 速度前馈与目标滤波）
+ *
+ * \param g 包含云台数据的结构体
+ * \param g_cmd 云台控制指令（包含遥控器增量及视觉数据）
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_Control1(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
+  if (g == NULL || g_cmd == NULL) {
+    return -1;
+  }
 
+  /* 更新时间步长 */
+  g->dt = (BSP_TIME_Get_us() - g->lask_wakeup) / 1000000.0f;
+  g->lask_wakeup = BSP_TIME_Get_us();
+
+  /* 模式切换处理 */
+  Gimbal_SetMode(g, g_cmd->mode);
+
+  /* --- 0. 视觉滤波器初始化与复位逻辑 --- */
+  if (!is_vision_lpf_init) {
+      /* 假设控制频率约为1000Hz(取决于实际dt)，截止频率设为15Hz。截止频率越低越平滑，但延迟越大 */
+      LowPassFilter2p_Init(&vision_yaw_lpf, 1.0f / g->dt, 15.0f);
+      LowPassFilter2p_Init(&vision_pit_lpf, 1.0f / g->dt, 15.0f);
+      is_vision_lpf_init = 1;
+  }
+
+  /* --- 1. 计算目标设定值增量 --- */
+  float delta_yaw = 0.0f;
+  float delta_pit = 0.0f;
+
+  if (g->mode == GIMBAL_MODE_AUTO_AIM && g_cmd->vision.target_found) {
+    /* 对视觉传来的绝对角度进行二阶低通滤波 */
+    float filtered_vision_yaw = LowPassFilter2p_Apply(&vision_yaw_lpf, g_cmd->vision.yaw);
+    float filtered_vision_pit = LowPassFilter2p_Apply(&vision_pit_lpf, g_cmd->vision.pit);
+
+    /* Yaw轴：圆周差值计算 */
+    delta_yaw = CircleError(filtered_vision_yaw, g->setpoint.eulr.yaw, M_2PI);
+    
+    /* Pitch轴：纯线性差值计算。根据前置测试，如果极性反了，在此处添加负号 */
+    delta_pit = filtered_vision_pit - g->setpoint.eulr.pit; // 如果反向，改为 (-filtered_vision_pit) - g->setpoint.eulr.pit;
+
+  } else {
+    /* 丢失目标或非自瞄模式：复位滤波器，防止下次切入自瞄时产生剧烈阶跃 */
+    LowPassFilter2p_Reset(&vision_yaw_lpf, g->setpoint.eulr.yaw);
+    LowPassFilter2p_Reset(&vision_pit_lpf, g->setpoint.eulr.pit);
+
+    /* 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;
+  }
+
+  /* --- 2. 软件限位处理 (Yaw) --- */
+  if (g->param->travel.yaw > 0) {
+    float motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
+    if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
+    if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
+    
+    const float delta_max = CircleError(g->limit.yaw.max, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
+    const float delta_min = CircleError(g->limit.yaw.min, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
+    
+    if (delta_yaw > delta_max) delta_yaw = delta_max;
+    if (delta_yaw < delta_min) delta_yaw = delta_min;
+  }
+  CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI);
+
+  /* --- 3. 软件限位处理 (Pitch) --- */
+  /* Pitch 轴必须使用纯线性累加和限幅，严禁使用 CircleAdd */
+  g->setpoint.eulr.pit += delta_pit;
+
+  if (g->param->travel.pit > 0) {
+    float motor_imu_offset = g->feedback.motor.pit.rotor_abs_angle - g->feedback.imu.eulr.rol;
+    if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
+    if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
+    
+    float target_abs_pit = g->setpoint.eulr.pit + motor_imu_offset;
+    
+    if (target_abs_pit > g->limit.pit.max) {
+        g->setpoint.eulr.pit = g->limit.pit.max - motor_imu_offset;
+    } else if (target_abs_pit < g->limit.pit.min) {
+        g->setpoint.eulr.pit = g->limit.pit.min - motor_imu_offset;
+    }
+  }
+
+  /* --- 4. 闭环控制计算 (串级 PID + 前馈) --- */
+  float yaw_omega_set_point, pit_omega_set_point;
+  float yaw_v_ff = 0.0f, pit_v_ff = 0.0f;
+
+  switch (g->mode) {
+  case GIMBAL_MODE_RELAX:
+    g->out.yaw = 0.0f;
+    g->out.pit = 0.0f;
+    break;
+
+  case GIMBAL_MODE_AUTO_AIM:
+    if (g_cmd->vision.target_found) {
+        /* 注意：已删除原有的强行赋值 g->setpoint.eulr.pit=g_cmd->vision.pit; */
+        yaw_v_ff = g_cmd->vision.yaw_v_ff * 0.2f; 
+        pit_v_ff = g_cmd->vision.pit_v_ff * 0.2f;
+    }
+    /* 顺延执行 PID 计算 */
+  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.yaw_omega), yaw_omega_set_point,
+                          g->feedback.imu.gyro.z, 0.f, g->dt) + yaw_v_ff;
+
+    pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
+                                   g->feedback.imu.eulr.rol, 0.0f, g->dt);
+    g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
+                          g->feedback.imu.gyro.y, 0.f, g->dt) + pit_v_ff;
+    g->out.pit=-g->out.pit; g->out.pit=-g->out.pit;                       
+    /* 注意：已删除此处的 g->out.pit = -g->out.pit; 修正输出极性应在外部 Gimbal_Output 或 PID 计算环节统一处理 */
+    break;
+
+  case GIMBAL_MODE_RELATIVE:
+    g->out.yaw = 0.0f;
+    g->out.pit = 0.0f;
+    break;
+  }
+
+  /* 输出滤波 */
+  g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
+  g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit);
+
+  return 0;
+}
  /**
    * \brief 云台输出
    *
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index fb8d3ab..5e0c198 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -28,15 +28,6 @@ extern "C" {
 /* Exported types ----------------------------------------------------------- */
 
 
-/* 在 Gimbal_Vision_t 结构体中增加前馈成员 */
-typedef struct {
-    uint8_t target_found;
-    float yaw;
-    float pit;
-    float yaw_v_ff; // Yaw 速度前馈
-    float pit_v_ff; // Pitch 速度前馈
-    // 如有需要可增加加速度前馈 a_ff
-} Gimbal_Vision_t;
 
 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 */
diff --git a/User/module/shoot.c b/User/module/shoot.c
index c428521..cb50d81 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -1,4 +1,3 @@
-
 #include "shoot.h"
 #include <string.h>
 #include "component/filter.h"
@@ -7,10 +6,14 @@
 #include "bsp/time.h"
 #include "device/motor_rm.h"
 #include "module/config.h"
+
 static bool last_firecmd;
 
+/**
+ * @brief 确保两个输出权重的和不超过 1.0f，用于限幅
+ */
 static inline void ScaleSumTo1(float *a, float *b) {
-    float sum = *a + *b;
+    float sum = fabsf(*a) + fabsf(*b);
     if (sum > 1.0f) {
         float scale = 1.0f / sum;
         *a *= scale;
@@ -18,23 +21,22 @@ static inline void ScaleSumTo1(float *a, float *b) {
     }
 }
 
-
 int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode)
 {
     if (s == NULL) {
-        return -1; // 参数错误
+        return -1;
     }
-    s->mode=mode;
+    s->mode = mode;
     return 0;
 }
 
 int8_t Shoot_ResetIntegral(Shoot_t *s)
 {
     if (s == NULL) {
-        return -1; // 参数错误
+        return -1;
     }
-    for(int i=0;i<SHOOT_FRIC_NUM;i++)
-    {	
+    for(int i = 0; i < SHOOT_FRIC_NUM; i++)
+    {    
         PID_ResetIntegral(&s->pid.fric_follow[i]);
         PID_ResetIntegral(&s->pid.fric_err[i]);
     }
@@ -46,10 +48,10 @@ int8_t Shoot_ResetIntegral(Shoot_t *s)
 int8_t Shoot_ResetCalu(Shoot_t *s)
 {
     if (s == NULL) {
-        return -1; // 参数错误
+        return -1;
     }
-    for(int i=0;i<SHOOT_FRIC_NUM;i++)
-    {	
+    for(int i = 0; i < SHOOT_FRIC_NUM; i++)
+    {    
         PID_Reset(&s->pid.fric_follow[i]);
         PID_Reset(&s->pid.fric_err[i]);
         LowPassFilter2p_Reset(&s->filter.fric.in[i], 0.0f);
@@ -65,47 +67,44 @@ int8_t Shoot_ResetCalu(Shoot_t *s)
 int8_t Shoot_ResetOutput(Shoot_t *s)
 {
     if (s == NULL) {
-        return -1; // 参数错误
+        return -1;
     }
-    for(int i=0;i<SHOOT_FRIC_NUM;i++)
-    {	
-        s->output.out_follow[i]=0.0f;
-        s->output.out_err[i]=0.0f;
-        s->output.out_fric[i]=0.0f;
-        s->output.lpfout_fric[i]=0.0f;
+    for(int i = 0; i < SHOOT_FRIC_NUM; i++)
+    {    
+        s->output.out_follow[i] = 0.0f;
+        s->output.out_err[i] = 0.0f;
+        s->output.out_fric[i] = 0.0f;
+        s->output.lpfout_fric[i] = 0.0f;
     }
-	s->output.outagl_trig=0.0f;
-	s->output.outomg_trig=0.0f;
-    s->output.outlpf_trig=0.0f;
+    s->output.outagl_trig = 0.0f;
+    s->output.outomg_trig = 0.0f;
+    s->output.outlpf_trig = 0.0f;
     return 0;
 }
 
 int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
 {
     if (s == NULL) {
-        return -1; // 参数错误
+        return -1;
     }
-    s->target_variable.target_rpm=4000.0f/MAX_FRIC_RPM;
+    // 固定的归一化目标值
+    s->target_variable.target_rpm = 4000.0f; 
     return 0;
 }
-/**
- * \brief 根据发射弹丸数量及发射频率计算拨弹电机目标角度
- *
- * \param s 包含发射数据的结构体
- * \param num 需要发射的弹丸数量
- */
+
 int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
 {
-    if (s == NULL  || s->shoot_Anglecalu.num_to_shoot == 0) {
+    if (s == NULL || s->shoot_Anglecalu.num_to_shoot == 0) {
         return -1; 
     }
     if(s->now - s->shoot_Anglecalu.time_last_shoot >= s->param->shot_delay_time && cmd->firecmd)
     {
-        s->shoot_Anglecalu.time_last_shoot=s->now;
+        s->shoot_Anglecalu.time_last_shoot = s->now;
         s->target_variable.target_angle += s->param->trig_step_angle;
-		if(s->target_variable.target_angle>M_PI)s->target_variable.target_angle-=M_2PI;
-		else if((s->target_variable.target_angle<-M_PI))s->target_variable.target_angle+=M_2PI;
-		s->shoot_Anglecalu.num_to_shoot--;
+        // 角度限制在 [-PI, PI]
+        if(s->target_variable.target_angle > M_PI) s->target_variable.target_angle -= M_2PI;
+        else if(s->target_variable.target_angle < -M_PI) s->target_variable.target_angle += M_2PI;
+        s->shoot_Anglecalu.num_to_shoot--;
     }
     return 0;
 }
@@ -113,199 +112,188 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
 int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
 {
     if (s == NULL || param == NULL || target_freq <= 0.0f) {
-        return -1; // 参数错误
+        return -1;
     }
-    s->param=param;
+    s->param = param;
 
     BSP_CAN_Init();
-    for(int i=0;i<SHOOT_FRIC_NUM;i++){
-	MOTOR_RM_Register(&param->fric_motor_param[i]);
-    PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
-    PID_Init(&s->pid.fric_err[i], KPID_MODE_CALC_D, target_freq,&param->fric_err);
-    LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);
-    LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out);
+    for(int i = 0; i < SHOOT_FRIC_NUM; i++){
+        MOTOR_RM_Register(&param->fric_motor_param[i]);
+        PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq, &param->fric_follow);
+        PID_Init(&s->pid.fric_err[i], KPID_MODE_CALC_D, target_freq, &param->fric_err);
+        LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);
+        LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out);
     }
-	MOTOR_RM_Register(&param->trig_motor_param);
-    PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,&param->trig);
-    PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,&param->trig_omg);
+    MOTOR_RM_Register(&param->trig_motor_param);
+    PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq, &param->trig);
+    PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq, &param->trig_omg);
 
     LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in);
     LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out);
-	
-    memset(&s->shoot_Anglecalu,0,sizeof(s->shoot_Anglecalu));
-    memset(&s->output,0,sizeof(s->output));
-    s->target_variable.target_rpm=6000.0f;  /* 归一化目标转速 */
+    
+    memset(&s->shoot_Anglecalu, 0, sizeof(s->shoot_Anglecalu));
+    memset(&s->output, 0, sizeof(s->output));
+    s->target_variable.target_rpm = 6000.0f;
 
-	return 0;
+    return 0;
 }
 
 int8_t Shoot_UpdateFeedback(Shoot_t *s)
 {
     if (s == NULL) {
-        return -1; // 参数错误
+        return -1;
     }
-    float rpm_sum=0.0f;
+    float rpm_sum = 0.0f;
     for(int i = 0; i < SHOOT_FRIC_NUM; i++) {
-        /* 更新摩擦电机反馈 */
         MOTOR_RM_Update(&s->param->fric_motor_param[i]);
-		MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i]);
-		if(motor_fed!=NULL)
-		{
-			s->feedback.fric[i]=motor_fed->motor.feedback;
-		}
-        /* 滤波反馈rpm */
+        MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i]);
+        if(motor_fed != NULL) {
+            s->feedback.fric[i] = motor_fed->motor.feedback;
+        }
         s->feedback.fil_fric_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed);
-        /* 归一化rpm */
         s->feedback.fric_rpm[i] = s->feedback.fil_fric_rpm[i] / MAX_FRIC_RPM;
-        if(s->feedback.fric_rpm[i]>1.0f)s->feedback.fric_rpm[i]=1.0f;
-        if(s->feedback.fric_rpm[i]<-1.0f)s->feedback.fric_rpm[i]=-1.0f;
-        /* 计算平均rpm */
-        rpm_sum+=s->feedback.fric_rpm[i];
+        
+        if(s->feedback.fric_rpm[i] > 1.0f) s->feedback.fric_rpm[i] = 1.0f;
+        if(s->feedback.fric_rpm[i] < -1.0f) s->feedback.fric_rpm[i] = -1.0f;
+        rpm_sum += s->feedback.fric_rpm[i];
     }
-    s->feedback.fric_avgrpm=rpm_sum/SHOOT_FRIC_NUM;
-	/* 更新拨弹电机反馈 */
+    s->feedback.fric_avgrpm = rpm_sum / SHOOT_FRIC_NUM;
+
     MOTOR_RM_Update(&s->param->trig_motor_param);
-	MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->trig_motor_param);
-		if(motor_fed!=NULL)
-		{
-			s->feedback.trig=motor_fed->feedback;
-		}
-    /* 将多圈角度归化到单圈 (-M_PI, M_PI) */
-		s->feedback.trig_angle_cicle = s->feedback.trig.rotor_abs_angle;
-		s->feedback.trig_angle_cicle = fmod(s->feedback.trig_angle_cicle, M_2PI); // 将角度限制在 [-2π, 2π]
-		if (s->feedback.trig_angle_cicle > M_PI) {
-		s->feedback.trig_angle_cicle -= M_2PI; // 调整到 [-π, π]
-		}else if (s->feedback.trig_angle_cicle < -M_PI) {
-		s->feedback.trig_angle_cicle += M_2PI; // 调整到 [-π, π]
-		}
+    MOTOR_RM_t *motor_fed_trig = MOTOR_RM_GetMotor(&s->param->trig_motor_param);
+    if(motor_fed_trig != NULL) {
+        s->feedback.trig = motor_fed_trig->feedback;
+    }
+
+    s->feedback.trig_angle_cicle = s->feedback.trig.rotor_abs_angle;
+    s->feedback.trig_angle_cicle = fmod(s->feedback.trig_angle_cicle, M_2PI); 
+    if (s->feedback.trig_angle_cicle > M_PI) {
+        s->feedback.trig_angle_cicle -= M_2PI;
+    } else if (s->feedback.trig_angle_cicle < -M_PI) {
+        s->feedback.trig_angle_cicle += M_2PI;
+    }
     
     s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.rotor_speed);
     s->feedback.trig_rpm = s->feedback.trig.rotor_speed / MAX_TRIG_RPM;
-    if(s->feedback.trig_rpm>1.0f)s->feedback.trig_rpm=1.0f;  //如果单环效果好就删
-    if(s->feedback.trig_rpm<-1.0f)s->feedback.trig_rpm=-1.0f;
+    if(s->feedback.trig_rpm > 1.0f) s->feedback.trig_rpm = 1.0f;
+    if(s->feedback.trig_rpm < -1.0f) s->feedback.trig_rpm = -1.0f;
     
     s->errtosee = s->feedback.fric[0].rotor_speed - s->feedback.fric[1].rotor_speed;
-	return 0;
+    return 0;
 }
 
 int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
 {
     if (s == NULL || cmd == NULL) {
-        return -1; // 参数错误
+        return -1;
     }
     s->now = BSP_TIME_Get_us() / 1000000.0f;
-    s->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
+    s->dt = (float)(BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
     s->lask_wakeup = BSP_TIME_Get_us();
-	s->online = cmd->online;
-    if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){
-        for(int i=0;i<SHOOT_FRIC_NUM;i++)
-        {	
+    s->online = cmd->online;
+
+    if(!s->online){
+        for(int i = 0; i < SHOOT_FRIC_NUM; i++) {    
             MOTOR_RM_Relax(&s->param->fric_motor_param[i]);
         }
         MOTOR_RM_Relax(&s->param->trig_motor_param);
     }
-    else{
+    else {
         switch(s->running_state)
         {
-            case SHOOT_STATE_IDLE:/*熄火等待*/
-                for(int i=0;i<SHOOT_FRIC_NUM;i++)
-                {	
+            case SHOOT_STATE_IDLE:/* 停止状态：下发 0 电流，避免反电动势制动 */
+                for(int i = 0; i < SHOOT_FRIC_NUM; i++)
+                {    
+                    // 直接将输出清零，不走 PID 计算
+                    s->output.out_follow[i] = 0.0f;
+                    s->output.out_err[i] = 0.0f;
+                    s->output.out_fric[i] = 0.0f;
+                    s->output.lpfout_fric[i] = 0.0f;
+                    
+                    // 重置 PID 积分项，防止下一次启动时瞬间过流
+                    PID_ResetIntegral(&s->pid.fric_follow[i]);
+                    PID_ResetIntegral(&s->pid.fric_err[i]);
 
-                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->feedback.fric_rpm[i],0,s->dt);
-                    s->output.out_fric[i]=s->output.out_follow[i];
-                    s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
-                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
+                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], 0.0f);
                 }
-                s->output.outagl_trig   =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
-                s->output.outomg_trig  =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
-                s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
+                
+                // 拨弹电机保持现有位置控制
+                s->output.outagl_trig = PID_Calc(&s->pid.trig, s->target_variable.target_angle, s->feedback.trig_angle_cicle, 0, s->dt);
+                s->output.outomg_trig = PID_Calc(&s->pid.trig_omg, s->output.outagl_trig, s->feedback.trig_rpm, 0, s->dt);
+                s->output.outlpf_trig = LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
                 MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
+
                 if(cmd->ready)
-                    {   
-                        Shoot_ResetCalu(s);
-                        Shoot_ResetIntegral(s);
-                        Shoot_ResetOutput(s);
-                        s->running_state=SHOOT_STATE_READY;
-                    }
+                {   
+                    Shoot_ResetCalu(s);
+                    Shoot_ResetIntegral(s);
+                    Shoot_ResetOutput(s);
+                    s->running_state = SHOOT_STATE_READY;
+                }
                 break;
-            case SHOOT_STATE_READY:/*准备射击*/
-                
-                for(int i=0;i<SHOOT_FRIC_NUM;i++)
-                {	/* 计算跟随输出、计算修正输出 */ 
-                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
-                    s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
-                    /* 按比例缩放并加和输出 */
+
+            case SHOOT_STATE_READY:/* 准备射击：摩擦轮闭环加速 */
+                for(int i = 0; i < SHOOT_FRIC_NUM; i++)
+                {    
+                    s->output.out_follow[i] = PID_Calc(&s->pid.fric_follow[i], s->target_variable.target_rpm / MAX_FRIC_RPM, s->feedback.fric_rpm[i], 0, s->dt);
+                    s->output.out_err[i] = PID_Calc(&s->pid.fric_err[i], s->feedback.fric_avgrpm, s->feedback.fric_rpm[i], 0, s->dt);
+                    
                     ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);                    
-                    s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
-                    /* 滤波 */
+                    s->output.out_fric[i] = s->output.out_follow[i] + s->output.out_err[i];
                     s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
-                    /* 输出 */
                     MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
                 }
-                /* 拨弹电机输出 */
-                s->output.outagl_trig   =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
-                s->output.outomg_trig  =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
-                s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
+                
+                s->output.outagl_trig = PID_Calc(&s->pid.trig, s->target_variable.target_angle, s->feedback.trig_angle_cicle, 0, s->dt);
+                s->output.outomg_trig = PID_Calc(&s->pid.trig_omg, s->output.outagl_trig, s->feedback.trig_rpm, 0, s->dt);
+                s->output.outlpf_trig = LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
                 MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
                 
-                /* 检查状态机 */
                 if(!cmd->ready)
-                    {
-                        Shoot_ResetCalu(s);
-                        Shoot_ResetOutput(s);
-                        s->running_state=SHOOT_STATE_IDLE;
-                    }
-                    else if(last_firecmd==false&&cmd->firecmd==true)
-                    {
-                        Shoot_ResetOutput(s);
-                        s->running_state=SHOOT_STATE_FIRE;
-                        s->shoot_Anglecalu.num_to_shoot+=s->param->shot_burst_num;
-					
-                    }
+                {
+                    s->running_state = SHOOT_STATE_IDLE;
+                }
+                else if(last_firecmd == false && cmd->firecmd == true)
+                {
+                    s->running_state = SHOOT_STATE_FIRE;
+                    s->shoot_Anglecalu.num_to_shoot += s->param->shot_burst_num;
+                }
                 break;
-            case SHOOT_STATE_FIRE:
-				Shoot_CaluTargetAngle(s, cmd);
-                for(int i=0;i<SHOOT_FRIC_NUM;i++)
-                {	
-                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
-                    s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
+
+            case SHOOT_STATE_FIRE:/* 发射状态 */
+                Shoot_CaluTargetAngle(s, cmd);
+                for(int i = 0; i < SHOOT_FRIC_NUM; i++)
+                {    
+                    s->output.out_follow[i] = PID_Calc(&s->pid.fric_follow[i], s->target_variable.target_rpm / MAX_FRIC_RPM, s->feedback.fric_rpm[i], 0, s->dt);
+                    s->output.out_err[i] = PID_Calc(&s->pid.fric_err[i], s->feedback.fric_avgrpm, s->feedback.fric_rpm[i], 0, s->dt);
                     ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);
-                    s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
+                    s->output.out_fric[i] = s->output.out_follow[i] + s->output.out_err[i];
                     s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
                     MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
                 }
-                s->output.outagl_trig   =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
-                s->output.outomg_trig  =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
-                s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
+                s->output.outagl_trig = PID_Calc(&s->pid.trig, s->target_variable.target_angle, s->feedback.trig_angle_cicle, 0, s->dt);
+                s->output.outomg_trig = PID_Calc(&s->pid.trig_omg, s->output.outagl_trig, s->feedback.trig_rpm, 0, s->dt);
+                s->output.outlpf_trig = LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
                 MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
-                if(!cmd->firecmd)
-                    {
-                        Shoot_ResetOutput(s);
-                        s->running_state=SHOOT_STATE_READY;
-                    }
+
+                if(!cmd->firecmd && s->shoot_Anglecalu.num_to_shoot == 0)
+                {
+                    s->running_state = SHOOT_STATE_READY;
+                }
                 break;
+
             default:
-                s->running_state=SHOOT_STATE_IDLE;
+                s->running_state = SHOOT_STATE_IDLE;
                 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]);
+    // 执行底层电机控制
+    for(int i = 0; i < SHOOT_FRIC_NUM; i++) {
+        MOTOR_RM_Ctrl(&s->param->fric_motor_param[i]);
+    }
+    MOTOR_RM_Ctrl(&s->param->trig_motor_param);
+
     last_firecmd = cmd->firecmd;
     return 0;
-}
-
-
-
-
-
-
-
-
-
+}
\ No newline at end of file
diff --git a/User/task/ai.c b/User/task/ai.c
index 81ec2d2..4a473de 100644
--- a/User/task/ai.c
+++ b/User/task/ai.c
@@ -19,7 +19,7 @@
 
 /* Private typedef ---------------------------------------------------------- */
 extern uint8_t AI_mode;      // AI 模式变量，供其他模块查询当前AI控制模式
-
+#define MAX_RX_BUF_SIZE 128 // 或 (sizeof(VisionToGimbal_t) * 2)
 // MCU 数据结构（MCU -> 上位机）
 typedef struct __attribute__((packed)) {
     uint8_t head[2];         // {'M', 'R'}
@@ -33,7 +33,7 @@ typedef struct __attribute__((packed)) {
     uint16_t bullet_count;   // 子弹累计发送次数
     uint16_t crc16;
 } GimbalToVision_t;
-
+Gimbal_Vision_t vision_data1;
 // 确保结构体大小符合要求 (C11 标准)
 #if defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
 _Static_assert(sizeof(GimbalToVision_t) <= 64, "GimbalToVision_t size exceeds 64 bytes");
@@ -67,61 +67,64 @@ GimbalToVision_t tx_pkg;
 /* USER FUNCTION BEGIN */
 
 /**
- * @brief  AI串口接收完成回调函数
- * @note   验证包头与CRC16校验，校验通过后更新控制指令，并重新开启DMA接收
+ * @brief  AI串口空闲中断回调函数 (适配无参 BSP 架构)
  */
-static void AI_RxCpltCallback(void) {
-    /* 检查包头是否为 'M' 和 'R' */
-    if (ai_rx_buf[0] == 'M' && ai_rx_buf[1] == 'R') {
-        /* 校验 CRC，确保数据包完整 */
-        if (CRC16_Verify(ai_rx_buf, sizeof(VisionToGimbal_t))) {
-            memcpy(&ai_rx_data, ai_rx_buf, sizeof(VisionToGimbal_t));
-            
-            /* --- 务必初始化局部变量 --- */
-            Gimbal_Vision_t vision_data;
-            memset(&vision_data, 0, sizeof(Gimbal_Vision_t));
-            
-            Shoot_CMD_t ai_shoot_cmd;
-            memset(&ai_shoot_cmd, 0, sizeof(Shoot_CMD_t)); // 防止野指针走火
-            
-            /* --- 正确赋值视觉结构体 --- */
-            switch (ai_rx_data.mode) {
-                case 0: /* 不控制 */
-                    vision_data.target_found = 0;
-                    // ai_shoot_cmd.mode = SHOOT_MODE_STOP; 
-                    break;
-                case 1: /* 控制云台但不开火 */
-                    vision_data.target_found = 1;
-                    vision_data.yaw = ai_rx_data.yaw;
-                    vision_data.pit = ai_rx_data.pitch;
-                    vision_data.yaw_v_ff = ai_rx_data.yaw_vel; 
-                    vision_data.pit_v_ff = ai_rx_data.pitch_vel;
-                    // ai_shoot_cmd.mode = SHOOT_MODE_READY; 
-                    break;
-                case 2: /* 控制云台且开火 */
-                    vision_data.target_found = 1;
-                    vision_data.yaw = ai_rx_data.yaw;
-                    vision_data.pit = ai_rx_data.pitch;
-                    vision_data.yaw_v_ff = ai_rx_data.yaw_vel; 
-                     vision_data.pit_v_ff = ai_rx_data.pitch_vel;
-                    // ai_shoot_cmd.mode = SHOOT_MODE_FIRE; 
-                    break;
-                default:
-                    vision_data.target_found = 0;
-                    break;
-            }
-            
-            /* 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);
-            
-            /* 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 */
-    BSP_UART_Receive(BSP_UART_AI, ai_rx_buf, sizeof(VisionToGimbal_t), true);
-}
+static void AI_RxIdleCallback(void) {
+    /* 1. 获取本次空闲中断触发时的实际接收长度 */
+    uint16_t Size = BSP_UART_GetRxCount(BSP_UART_AI, MAX_RX_BUF_SIZE);
+    
+    /* 2. 必须手动停止当前 DMA，以便在函数末尾重新对齐接收指针 */
+    HAL_UART_DMAStop(BSP_UART_GetHandle(BSP_UART_AI));
 
+    /* 3. 长度校验：严格匹配结构体长度 */
+    if (Size != sizeof(VisionToGimbal_t)) {
+        goto RESTART_RX;
+    }
+
+    /* 4. 包头校验 */
+    if (ai_rx_buf[0] != 'M' || ai_rx_buf[1] != 'R') {
+        goto RESTART_RX;
+    }
+
+    /* 5. CRC校验 */
+    if (!CRC16_Verify(ai_rx_buf, Size)) {
+        goto RESTART_RX;
+    }
+
+    /* --- 下方保留原有的解析和入队逻辑 --- */
+    VisionToGimbal_t *p_rx_data = (VisionToGimbal_t *)ai_rx_buf;
+    Gimbal_Vision_t vision_data;
+    memset(&vision_data, 0, sizeof(Gimbal_Vision_t));
+    
+    uint8_t is_valid_packet = 1;
+
+    switch (p_rx_data->mode) {
+        case 0:
+            vision_data.target_found = 0;
+						__NOP();
+            break;
+        case 1:
+        case 2:
+            vision_data.target_found = 1;
+            vision_data.yaw      = p_rx_data->yaw;
+            vision_data.pit      = p_rx_data->pitch;
+            vision_data.yaw_v_ff = p_rx_data->yaw_vel;
+            vision_data.pit_v_ff = p_rx_data->pitch_vel;
+            break;
+        default:
+            is_valid_packet = 0; 
+            break;
+    }
+		
+    if (is_valid_packet) {
+        osMessageQueuePut(task_runtime.msgq.vision.data, &vision_data, 0, 0);
+				vision_data1 = vision_data;
+    }
+
+RESTART_RX:
+    /* 6. 重新开启空闲中断定长接收 */
+    BSP_UART_Receive_IDLE(BSP_UART_AI, ai_rx_buf, MAX_RX_BUF_SIZE);
+}
 /**
  * @brief  向上位机发送MCU状态数据
  */
@@ -177,7 +180,8 @@ void Task_ai(void *argument) {
   
     /* USER CODE INIT BEGIN */
     /* 注册串口接收完成回调并启动第一次DMA接收 */
-    BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB, AI_RxCpltCallback);
+    // 假设 BSP 已添加 IDLE 中断回调对应的枚举 BSP_UART_IDLE_CB
+		BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB, AI_RxIdleCallback);
     BSP_UART_Receive(BSP_UART_AI, ai_rx_buf, sizeof(VisionToGimbal_t), true);
     /* USER CODE INIT END */
   
diff --git a/User/task/atti_esti.c b/User/task/atti_esti.c
index febee43..302a7ad 100644
--- a/User/task/atti_esti.c
+++ b/User/task/atti_esti.c
@@ -78,17 +78,35 @@ void Task_atti_esti(void *argument) {
     BMI088_ParseAccl(&bmi088);
     BMI088_ParseGyro(&bmi088);
 
-    /* 根据设备接收到的数据进行姿态解析 */
-    AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &magn);
+    /* =================== 核心修复区域：原始数据重映射 =================== */
+    /* 采用 typeof 定义临时变量，拷贝原始数据以保留 z 轴等未修改的数据 */
+    /* 注意：typeof 为 GCC 扩展特性，STM32 编译环境（Keil/CubeIDE）默认支持 */
+		__typeof__(bmi088.accl) mapped_accl = bmi088.accl;
+    __typeof__(bmi088.gyro) mapped_gyro = bmi088.gyro;
 
-    /* 根据解析出来的四元数计算欧拉角 */
+    /* 执行90度旋转映射 (假设顺时针90度: X_new = Y_old, Y_new = -X_old) */
+    mapped_accl.x =  bmi088.accl.x;
+    mapped_accl.y = bmi088.accl.y;
+
+    mapped_gyro.x =  bmi088.gyro.x;
+    mapped_gyro.y = bmi088.gyro.y;
+
+    /* 根据重映射后的加速度与角速度进行姿态解析 */
+    AHRS_Update(&gimbal_ahrs, &mapped_accl, &mapped_gyro, &magn);
+
+    /* 根据解析出来的正确四元数计算欧拉角 */
     AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
     osKernelUnlock();
+    /* ==================================================================== */
     
-    // --- 新增：将IMU数据（角速度与欧拉角）发送至云台控制任务的队列 ---
+    // --- 修改：将IMU数据（正确的角速度与欧拉角）发送至云台控制任务的队列 ---
     Gimbal_IMU_t gimbal_imu_to_send;
-    gimbal_imu_to_send.gyro = bmi088.gyro;  // 填充陀螺仪角速度
-    gimbal_imu_to_send.eulr = eulr_to_send; // 填充解算后的欧拉角
+    
+    // 直接使用映射好的角速度，确保内环（角速度）与外环（角度）坐标系完全一致
+    gimbal_imu_to_send.gyro = mapped_gyro;   
+    gimbal_imu_to_send.eulr = eulr_to_send; 
+    
+    // 发送至队列
     osMessageQueuePut(task_runtime.msgq.gimbal.imu, &gimbal_imu_to_send, 0, 0);
     // -----------------------------------------------------------------
 
@@ -98,8 +116,9 @@ void Task_atti_esti(void *argument) {
     // 0: 不等待，如果队列满了直接跳过（保证实时性）
     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
+    // 如果 AI 任务还需要欧拉角，发送欧拉角队列
     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 350f723..8bede66 100644
--- a/User/task/ctrl_gimbal.c
+++ b/User/task/ctrl_gimbal.c
@@ -19,6 +19,8 @@
 Gimbal_t gimbal;
 Gimbal_IMU_t gimbal_imu;
 Gimbal_CMD_t gimbal_cmd;
+uint32_t last_vision_update_tick = 0; 
+extern Gimbal_Vision_t vision_data1;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -35,9 +37,9 @@ void Task_ctrl_gimbal(void *argument) {
   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; 
+//  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; 
+  const uint32_t vision_timeout_ticks = osKernelGetTickFreq() / 100; 
   
   while (1) {
     tick += delay_tick;
@@ -51,20 +53,20 @@ void Task_ctrl_gimbal(void *argument) {
     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;  
-      }
-    }
-
+//    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;  
+//      }
+//    }
+		last_vision_data = vision_data1;
     /* 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;
 
diff --git a/User/task/rc.c b/User/task/rc.c
index 55804c7..cf7e029 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -64,14 +64,14 @@ void Task_rc(void *argument) {
       break;
     case DR16_SW_MID:
       cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
-      cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 1.0f;
-      cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 1.0f;
+      cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 3.0f;
+      cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 3.0f;
       AI_mode = 0; /* AI 模式：空闲 */
       break;
     case DR16_SW_DOWN:
       cmd_for_gimbal.mode = GIMBAL_MODE_AUTO_AIM;
-      cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 1.0f;
-      cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 1.0f;
+      cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 3.0f;
+      cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 3.0f;
       AI_mode = 1; /* AI 模式：自动瞄准 */
       break;
     default: