diff --git a/MDK-ARM/DevC.uvoptx b/MDK-ARM/DevC.uvoptx
index f919326..968705f 100644
--- a/MDK-ARM/DevC.uvoptx
+++ b/MDK-ARM/DevC.uvoptx
@@ -120,7 +120,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"" -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>
@@ -180,6 +180,36 @@
           <WinNumber>1</WinNumber>
           <ItemText>dr16</ItemText>
         </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>robot_config</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>\\DevC\../User/module/config.c\robot_config.gimbal_param.mech_zero.pit</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>BSP_UART_AI</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>tx_pkg</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>tx_pkg</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>tx_pkg</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
diff --git a/MDK-ARM/DevC/DevC.axf b/MDK-ARM/DevC/DevC.axf
index a7ede89..82163e7 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 4a78a34..083e811 100644
--- a/MDK-ARM/DevC/DevC.hex
+++ b/MDK-ARM/DevC/DevC.hex
@@ -1,33 +1,33 @@
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+:1000000078650120790200085DC9000871AD00081B
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+:1000200000000000000000000000000041D00008B7
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-:1000A00069DA00089302000893020008930200082E
+:1000A00079DA00089302000893020008930200081E
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 :1000C00093020008930200089302000893020008BC
-:1000D000930200088DEC00089302000893020008C8
+:1000D00093020008D5EC0008930200089302000880
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-:10014000CD260008D92600089302000845C90008FA
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 :1001A00001D100F059F8AFF2090EBAE80F0013F0D0
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@@ -36,13 +36,13 @@
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 :10028000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE746
 :10029000FEE7FEE704480549054A064B70470000A3
-:1002A00055DA0008890100086045012060650120D9
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+:1002A00065DA000889010008784501207865012099
+:1002B000785501207855012053EA020C00F069803E
 :1002C0002DE9F04B4FF00006002B1FBFB3FA83F56A
 :1002D00003FA05F424FA05F65E4012BF1643B2FA9B
 :1002E00082F502FA05F4C5F120051EBF22FA05FCCD
@@ -119,22 +119,22 @@
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 :10076000022A20EE030A30EE020A21EE011A23EEDD
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 :1007B000C06AB4EE486AF1EE10FA84ED011A0DDA5F
-:1007C00014F06AF895ED002A95ED014A95ED023A8C
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 :1007D00095ED035A84ED020A09E000BF40F6DB7193
 :1007E00010EE100AC3F6C97161F31E00A06024EE7A
 :1007F000030A22EE051A31EE000A25EE051A23EE51
 :10080000032A32EE011A31EE011A30EE000A78EEB8
-:10081000410A14F045FB002084ED000A40B2BDEC13
+:10081000410A14F069FB002084ED000A40B2BDECEF
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 :10083000001A81EE000A0D4604464FF07E5180ED0D
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-:10086000C3FC41EC110BB0EE480AF0EE680A14F03C
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 :10089000F1EE10FA16D195ED020AB5EE400AF1EE2E
 :1008A00010FA0FD19FED2C0A9FED2C1A9FED2C2AE8
@@ -172,10 +172,10 @@
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 :100AB00029EEA90A28EEA81A31EE000A2AEEAA1A8F
 :100AC00031EE000A8DED0D6A8DED0C7ACDED0B0A3D
-:100AD0008DED0A5A0AF040F928EE801A8DED071ABA
+:100AD0008DED0A5A0AF04EF928EE801A8DED071AAC
 :100AE00029EE801A2AEE800A8DED081A8DED090A8A
 :100AF0002EEE0E0A2DEE0D1A31EE000A2FEE0F1A11
-:100B000031EE000A0AF028F994ED001A6DEE00DAD1
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 :100B200094ED012AD4ED02CA2AEE8D4A21EE018A03
 :100B30008DED024A28EE8D0A23EE044A2DEE885AE6
@@ -192,7 +192,7 @@
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 :100BF0008DED051A22EE2C1A8DED041A33EE031A30
 :100C00008DED061A2CEE831A8DED014A62EE03EA91
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+:100C100029EE83CA8DED031A0AF0ACF894ED013A7F
 :100C200094ED022A9DED021A2AEE024A21EE031AE1
 :100C300031EE444A94ED031A28EE885A35EE044A00
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@@ -227,7 +227,7 @@
 :100E100036EE441A21EE201A30EE010A23EE261A8D
 :100E200031EE009A2EEE0E0A2CEE0C1A31EE000A6C
 :100E300028EE081A31EE000A29EE091A31EE000AEE
-:100E400009F08AFF95ED004A9DED0A5A20EE0C1A32
+:100E400009F098FF95ED004A9DED0A5A20EE0C1A24
 :100E5000DDED0B0A20EE0E2A24EE011A9DED0C7A30
 :100E600020EE083A35EE415A24EE021A9DED0D6A45
 :100E700020EE090A70EEC10A24EE031A37EE417A19
@@ -237,7 +237,7 @@
 :100EB00035EE011A26EE044A84ED003A84ED012A4B
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 :100ED00033EE022A21EE011A84ED030A31EE021AE2
-:100EE00020EE000A30EE010A09F036FF94ED001AF8
+:100EE00020EE000A30EE010A09F044FF94ED001AEA
 :100EF00094ED012A94ED023A94ED034A20EE011A92
 :100F000020EE022A20EE033A20EE040A002084EDAF
 :100F1000001A84ED012A84ED023A84ED030A40B2FE
@@ -255,7 +255,7 @@
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 :100FE00005D1B5EE40EAF1EE10FA00F0C6802DEE24
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@@ -274,7 +274,7 @@
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@@ -283,34 +283,34 @@
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@@ -379,60 +379,60 @@
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+:106C8000D7A33BA6374E3F082A3D5C1A019E413CE4
+:106C9000030201091A0576491223803F1AC004A194
+:106CA0001C666666101BF0411C4ABF20180B804012
+:106CB000CDCCCC3E0AD7233D0C4A3E049B2042203B
+:106CC0001A3F20480A3DCDCC4C3D9A99993E401E32
+:106CD00080BFDB0FC9E3496029183119287A4C209D
+:106CE00049042968A904121319DB199B4B0602B346
+:106CF000397099A0497089401AE0641A6004C13A59
+:106D000020BC5980091D401A20241AA0E02A4CE01A
+:106D10000A113C401924380A7A449A99394085EB83
+:086D2000B13C19CC1B3FAA0194
 :040000050800018965
 :00000001FF
diff --git a/User/module/config.c b/User/module/config.c
index 3f4c4a1..9a7def4 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -66,12 +66,12 @@ Config_RobotParam_t robot_config = {
             },
         },
         .mech_zero = {
-            .yaw = 0.0f,
-            .pit = 1.1f,
+            .yaw = 2.9f,
+            .pit = 1.39f,
         },
         .travel = {
-            .yaw = -1.0f,
-            .pit = 1.4f,
+            .yaw = 1.0f,
+            .pit = 1.2f,
         },
         .low_pass_cutoff_freq = {
             .out = -1.0f,
@@ -88,7 +88,7 @@ Config_RobotParam_t robot_config = {
             .can = BSP_CAN_1,
             .id = 0x206,
             .module = MOTOR_GM6020,
-            .reverse = false,
+            .reverse = true,
             .gear = false,
         },
         // .imu = {
@@ -104,8 +104,8 @@ Config_RobotParam_t robot_config = {
 
 
     .shoot_param = {
-            .trig_step_angle=M_2PI/8,
-            .shot_delay_time=0.05f,
+            .trig_step_angle=M_2PI/7.8,
+            .shot_delay_time=0.08f,
             .shot_burst_num=1,
             .fric_motor_param[0] = {
                 .can = BSP_CAN_1,
@@ -164,8 +164,8 @@ Config_RobotParam_t robot_config = {
                 .p=1.0f,
                 .i=0.1f,
                 .d=0.05f,
-                .i_limit=0.8f,
-                .out_limit=0.5f,
+                .i_limit=0.3f,
+                .out_limit=0.9f,
                 .d_cutoff_freq=-1.0f,
                 .range=M_2PI,
             },
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index e63fa98..f96fab0 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -17,7 +17,9 @@
 /* Private macro ------------------------------------------------------------ */
 /* 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) */
 /**
  * \brief 设置云台模式
  *
@@ -252,19 +254,37 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
   return 0;
 }
 
-  /**
+ /**
    * \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){
-  if (g_debug_motor_enable) {
+  if (1) {
     /* 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);
+    
+    /* 1. 对 Yaw 轴输出(大疆 RM 电机)进行限幅 */
+    float target_yaw_out = g->out.yaw;
+    if (target_yaw_out > YAW_MAX_OUTPUT) {
+        target_yaw_out = YAW_MAX_OUTPUT;
+    } else if (target_yaw_out < -YAW_MAX_OUTPUT) {
+        target_yaw_out = -YAW_MAX_OUTPUT;
+    }
+    MOTOR_RM_SetOutput(&g->param->yaw_motor, target_yaw_out);
+    
+    /* 2. 计算 Pitch 轴扭矩(达妙 DM 电机)并进行限幅 */
+    float target_pit_torque = g->out.pit * 3.0f; // 乘以减速比
+    if (target_pit_torque > PIT_MAX_TORQUE) {
+        target_pit_torque = PIT_MAX_TORQUE;
+    } else if (target_pit_torque < -PIT_MAX_TORQUE) {
+        target_pit_torque = -PIT_MAX_TORQUE;
+    }
+    
     MOTOR_MIT_Output_t output = {0};
-    output.torque = g->out.pit * 3.0f; // 乘以减速比
+    output.torque = target_pit_torque; 
     output.kd = 0.3f;
+    
+    /* 下发控制指令 */
     MOTOR_RM_Ctrl(&g->param->yaw_motor);
     MOTOR_DM_MITCtrl(&g->param->pit_motor, &output);
   } else {
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index 8637409..2485ed3 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -54,6 +54,14 @@ typedef struct {
   float min;
 } Gimbal_Limit_t;
 
+
+#define LIMIT_POLYGON_POINTS 8
+
+typedef struct {
+    float yaw; /* 节点的 Yaw 坐标 (横轴) */
+    float pit; /* 节点的 Pitch 坐标 (纵轴) */
+} Gimbal_Point2D_t;
+
 /* 云台参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/
 typedef struct {
   MOTOR_DM_Param_t pit_motor; /* pitch轴电机参数 */
@@ -65,6 +73,7 @@ typedef struct {
     KPID_Params_t pit_angle; /* pitch轴角位置环PID参数 */
   } pid;
 
+  
   /* 低通滤波器截止频率 */
   struct {
     float out;  /* 电机输出 */
diff --git a/User/task/ai.c b/User/task/ai.c
index e1a91d8..5063dd5 100644
--- a/User/task/ai.c
+++ b/User/task/ai.c
@@ -18,92 +18,88 @@
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
-#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
-    float q[4];             // 四元数 wxyz 顺序
-    float yaw;              // 偏航角
-    float yaw_vel;          // 偏航角速度
-    float pitch;            // 俯仰角
-    float pitch_vel;        // 俯仰角速度
-    float bullet_speed;     // 弹速
-    uint16_t bullet_count;  // 子弹累计发送次数
-} DataMCU_t;
-
-typedef struct __attribute__((packed)) {
-    uint8_t id;             // 数据包 ID: 0xC4
-    DataMCU_t data;
+    uint8_t head[2];         // {'M', 'R'}
+    uint8_t mode;            // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符
+    float q[4];              // wxyz顺序
+    float yaw;               // 偏航角
+    float yaw_vel;           // 偏航角速度
+    float pitch;             // 俯仰角
+    float pitch_vel;         // 俯仰角速度
+    float bullet_speed;      // 弹速
+    uint16_t bullet_count;   // 子弹累计发送次数
     uint16_t crc16;
-} PackageMCU_t;
+} GimbalToVision_t;
+
+// 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");
+#endif
 
 // AI 控制数据结构（上位机 -> MCU）
 typedef struct __attribute__((packed)) {
-    uint8_t mode;        // 0: 不控制, 1: 控制云台但不开火, 2: 控制云台且开火
-    float yaw;           // 目标偏航角/偏移量
-    float yaw_vel;       // 偏航角速度
-    float yaw_acc;       // 偏航角加速度
-    float pitch;         // 目标俯仰角/偏移量
-    float pitch_vel;     // 俯仰角速度
-    float pitch_acc;     // 俯仰角加速度
-    float vx;            // X 方向速度
-    float vy;            // Y 方向速度
-    float wz;            // Z 方向角速度
-    uint8_t reserved;    // 预留字段
-} DataAI_t;
-
-typedef struct __attribute__((packed)) {
-    uint8_t id;          // 数据包 ID: 0xB5
-    DataAI_t data;
+    uint8_t head[2];         // {'M', 'R'}
+    uint8_t mode;            // 0: 不控制, 1: 控制云台但不开火，2: 控制云台且开火
+    float yaw;               // 目标偏航角/偏移量
+    float yaw_vel;           // 偏航角速度
+    float yaw_acc;           // 偏航角加速度
+    float pitch;             // 目标俯仰角/偏移量
+    float pitch_vel;         // 俯仰角速度
+    float pitch_acc;         // 俯仰角加速度
     uint16_t crc16;
-} PackageAI_t;
+} VisionToGimbal_t;
+
+#if defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
+_Static_assert(sizeof(VisionToGimbal_t) <= 64, "VisionToGimbal_t size exceeds 64 bytes");
+#endif
 
 /* Private variables -------------------------------------------------------- */
-static uint8_t ai_rx_buf[sizeof(PackageAI_t)]; 
-static PackageAI_t ai_rx_data;                
+static uint8_t ai_rx_buf[sizeof(VisionToGimbal_t)]; 
+static VisionToGimbal_t ai_rx_data;                
 
 /* 声明外部全局变量，用于直接获取高频反馈数据 */
 extern Gimbal_t gimbal;
 extern Shoot_t shoot;
-
+GimbalToVision_t tx_pkg;
 /* USER FUNCTION BEGIN */
 
 /**
  * @brief  AI串口接收完成回调函数
- * @note   验证包头ID与CRC16校验，校验通过后更新控制指令，并重新开启DMA接收
+ * @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
  */
 static void AI_RxCpltCallback(void) {
-    if (ai_rx_buf[0] == ID_AI) {
+    /* 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(PackageAI_t))) {
-            memcpy(&ai_rx_data, ai_rx_buf, sizeof(PackageAI_t));
+        if (CRC16_Verify(ai_rx_buf, sizeof(VisionToGimbal_t))) {
+            memcpy(&ai_rx_data, ai_rx_buf, sizeof(VisionToGimbal_t));
             
-            /* --- 修复 2：务必初始化局部变量 --- */
+            /* --- 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
             
-            /* --- 修复 1 & 3：正确赋值视觉结构体 --- */
-            switch (ai_rx_data.data.mode) {
+            /* --- 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.data.yaw;
-                    vision_data.pit = ai_rx_data.data.pitch;
+                    vision_data.yaw = ai_rx_data.yaw;
+                    vision_data.pit = ai_rx_data.pitch;
                     // 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.data.yaw;
-                    vision_data.pit = ai_rx_data.data.pitch;
+                    vision_data.yaw = ai_rx_data.yaw;
+                    vision_data.pit = ai_rx_data.pitch;
                     // ai_shoot_cmd.mode = SHOOT_MODE_FIRE; 
                     break;
                 default:
@@ -119,49 +115,50 @@ static void AI_RxCpltCallback(void) {
         }
     }
     /* 重新开启DMA定长接收 */
-    BSP_UART_Receive(BSP_UART_AI, ai_rx_buf, sizeof(PackageAI_t), true);
+    BSP_UART_Receive(BSP_UART_AI, ai_rx_buf, sizeof(VisionToGimbal_t), true);
 }
 
 /**
  * @brief  向上位机发送MCU状态数据
  */
 static void AI_Send_MCU_Data(void) {
-    PackageMCU_t tx_pkg;
     AHRS_Quaternion_t current_quat;
 
-    tx_pkg.id = ID_MCU;
-    memset(&tx_pkg.data, 0, sizeof(DataMCU_t));
+    memset(&tx_pkg, 0, sizeof(GimbalToVision_t));
+    
+    /* 写入包头 */
+    tx_pkg.head[0] = 'M';
+    tx_pkg.head[1] = 'R';
     
     /* 1. 获取四元数 (从消息队列读取) */
     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;
-        tx_pkg.data.q[3] = current_quat.q3;
+        tx_pkg.q[0] = current_quat.q0;
+        tx_pkg.q[1] = current_quat.q1;
+        tx_pkg.q[2] = current_quat.q2;
+        tx_pkg.q[3] = current_quat.q3;
     }
 
     /* 2. 获取云台状态 (直接读取全局 gimbal 结构体) */
-    tx_pkg.data.yaw = gimbal.feedback.imu.eulr.yaw;
-    tx_pkg.data.yaw_vel = gimbal.feedback.imu.gyro.z;
-    tx_pkg.data.pitch = gimbal.feedback.imu.eulr.rol; /* 电控中 Pitch 对应 IMU 的 Rol */
-    tx_pkg.data.pitch_vel = gimbal.feedback.imu.gyro.y;
+    tx_pkg.yaw = gimbal.feedback.imu.eulr.yaw;
+    tx_pkg.yaw_vel = gimbal.feedback.imu.gyro.z;
+    tx_pkg.pitch = gimbal.feedback.imu.eulr.rol; /* 电控中 Pitch 对应 IMU 的 Rol */
+    tx_pkg.pitch_vel = gimbal.feedback.imu.gyro.y;
     
     /* 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 = 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; 
+    tx_pkg.mode = AI_mode; /* 直接回传当前AI模式，供上位机显示 */
+    
+    /* 弹速反馈：暂用摩擦轮目标转速或估算转速代替。若接入裁判系统，应替换为真实弹速。 */
+    tx_pkg.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 = -1;
+    tx_pkg.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);
+    tx_pkg.crc16 = CRC16_Calc((const uint8_t *)&tx_pkg, sizeof(GimbalToVision_t) - 2, CRC16_INIT);
     
     /* 5. 通过 DMA 发送至上位机 */
-    BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)&tx_pkg, sizeof(PackageMCU_t), true);
+    BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)&tx_pkg, sizeof(GimbalToVision_t), true);
 }
 
 /* USER FUNCTION END */
@@ -177,7 +174,7 @@ 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);
-    BSP_UART_Receive(BSP_UART_AI, ai_rx_buf, sizeof(PackageAI_t), true);
+    BSP_UART_Receive(BSP_UART_AI, ai_rx_buf, sizeof(VisionToGimbal_t), true);
     /* USER CODE INIT END */
   
     while (1) {
diff --git a/User/task/atti_esti.c b/User/task/atti_esti.c
index b04750e..febee43 100644
--- a/User/task/atti_esti.c
+++ b/User/task/atti_esti.c
@@ -16,6 +16,7 @@
 #include "component/ahrs.h"
 #include "component/pid.h"
 #include "device/bmi088.h"
+#include "module/gimbal.h" /* 新增：引入云台模块以使用 Gimbal_IMU_t 结构体 */
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -83,6 +84,14 @@ void Task_atti_esti(void *argument) {
     /* 根据解析出来的四元数计算欧拉角 */
     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 ---
+    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
+    osMessageQueuePut(task_runtime.msgq.gimbal.imu, &gimbal_imu_to_send, 0, 0);
+    // -----------------------------------------------------------------
+
     // 将四元数发送至 AI 任务的消息队列
     // &gimbal_ahrs.quat: 四元数结构体地址
     // 0: 消息优先级
diff --git a/User/task/rc.c b/User/task/rc.c
index 579fcec..55804c7 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 * 5.0f;
-      cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
+      cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 1.0f;
+      cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 1.0f;
       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 * 5.0f;
-      cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
+      cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 1.0f;
+      cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 1.0f;
       AI_mode = 1; /* AI 模式：自动瞄准 */
       break;
     default:
diff --git a/User/task/user_task.c b/User/task/user_task.c
index cec328c..9586794 100644
--- a/User/task/user_task.c
+++ b/User/task/user_task.c
@@ -12,7 +12,7 @@ const osThreadAttr_t attr_init = {
 const osThreadAttr_t attr_ai = {
     .name = "ai",
     .priority = osPriorityNormal,
-    .stack_size = 256 * 4,
+    .stack_size = 256 * 8,
 };
 const osThreadAttr_t attr_blink = {
     .name = "blink",