diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index 0d63c26..6bd1f4c 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -139,7 +139,7 @@ static void ControlSwitch()
     // 右侧拨杆向下,进入遥控器底盘控制,此时不响应云台控制指令
     if (switch_is_down(rc_data->rc.switch_right) && RemoteControlIsOnline())
     {
-        if (rc_data->rc.rocker_l1 < -600)
+        if (switch_is_up(rc_data->rc.switch_left))
         {
             chassis_cmd_recv.chassis_mode = CHASSIS_RESET;
             chassis_cmd_recv.vx = 0.05 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s
@@ -272,7 +272,7 @@ static void ParamAssemble()
 
 static void LegControl() /* 腿长控制和Roll补偿 */
 {
-    static float gravity_comp = 54.54;
+    static float gravity_comp = 57.63;
     l_side.F_leg = PIDCalculate(&leglen_pid_l, l_side.height, l_side.target_len) + gravity_comp;
     r_side.F_leg = PIDCalculate(&leglen_pid_r, r_side.height, r_side.target_len) + gravity_comp;
 }
diff --git a/application/chassis/balance.h b/application/chassis/balance.h
index 2f7ed74..d32a1d8 100644
--- a/application/chassis/balance.h
+++ b/application/chassis/balance.h
@@ -5,7 +5,7 @@
 #define THIGH_LEN 0.14f             // 大腿
 #define JOINT_DISTANCE 0.11f        // 关节间距
 #define WHEEL_RADIUS 0.075f         // 轮子半径
-#define LIMIT_LINK_RAD 0.205467224      // 初始限位角度,见ParamAssemble
+#define LIMIT_LINK_RAD 0.220039368      // 初始限位角度,见ParamAssemble
 #define BALANCE_GRAVITY_BIAS 0
 #define ROLL_GRAVITY_BIAS 0
 #define MAX_ACC_REF 0.5f
diff --git a/application/chassis/lqr_calc.h b/application/chassis/lqr_calc.h
index ffb198d..16e2a48 100644
--- a/application/chassis/lqr_calc.h
+++ b/application/chassis/lqr_calc.h
@@ -9,18 +9,18 @@
  */
 static void CalcLQR(LinkNPodParam *p, ChassisParam *chassis)
 {
-    float k[12][3] = {85.842511,-168.176021,-4.383994,
-                        -8.011354,-27.544550,0.946791,
-                        40.658824,-34.245857,-13.443024,
-                        33.057883,-37.645803,-8.872245,
-                        186.414265,-182.258244,59.110130,
-                        12.371459,-12.979501,4.575691,
-                        -2.044517,-13.973090,28.443243,
-                        -8.073717,8.553946,2.899594,
-                        109.977348,-109.218563,37.018016,
-                        67.432105,-68.632617,25.883284,
-                        -210.173934,175.310058,96.350481,
-                        -15.827060,13.395116,3.049615};
+    float k[12][3] = {85.365277,-164.978797,-4.643325,
+                    -7.817260,-26.353895,0.955791,
+                    43.461413,-37.225135,-12.040913,
+                    34.470271,-39.045724,-7.813613,
+                    171.639863,-172.946723,59.632812,
+                    11.281864,-11.926075,4.239721,
+                    -19.517972,1.032904,27.896023,
+                    -10.715152,11.663766,2.651705,
+                    96.039929,-99.227575,36.121143,
+                    56.371947,-60.347262,25.166639,
+                    -213.707672,181.799382,93.194337,
+                    -14.287060,12.217074,3.285836};
     float T[2] = {0};       // 0 T_wheel  1 T_hip
     float l = p->leg_len;
     float lsqr = l * l;