diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index af240a9..0c35852 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -229,13 +229,13 @@ static uint8_t DrivenMotorIsLost()
 /* 切换底盘遥控器控制和云台双板控制 */
 static void ControlSwitch()
 {
-    // // 根据裁判系统底盘输出电压设定底盘状态
-    // float chassis_vol = referee_data->PowerHeatData.chassis_voltage * 0.001;
-    // if (chassis_vol < 15.0f || JointMotorIsLost() || DrivenMotorIsLost())
-    // {
-    //     chassis_cmd_recv.chassis_mode = CHASSIS_ZERO_FORCE; // 皆离线,急停
-    //     return;
-    // }
+    // 根据裁判系统底盘输出电压设定底盘状态
+    float chassis_vol = referee_data->PowerHeatData.chassis_voltage * 0.001;
+    if (chassis_vol < 15.0f || JointMotorIsLost() || DrivenMotorIsLost())
+    {
+        chassis_cmd_recv.chassis_mode = CHASSIS_ZERO_FORCE; // 皆离线,急停
+        return;
+    }
 
     // // 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())
diff --git a/application/robot_def.h b/application/robot_def.h
index 0a0afbd..4906d5c 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -18,8 +18,8 @@
 
 /* 开发板类型定义,烧录时注意不要弄错对应功能;修改定义后需要重新编译,只能存在一个定义! */
 // #define ONE_BOARD // 单板控制整车
-// #define CHASSIS_BOARD //底盘板
-#define GIMBAL_BOARD  //云台板
+#define CHASSIS_BOARD //底盘板
+// #define GIMBAL_BOARD  //云台板
 
 #define VISION_USE_VCP  // 使用虚拟串口发送视觉数据
 // #define VISION_USE_UART // 使用串口发送视觉数据
diff --git a/modules/motor/HTmotor/HT04.c b/modules/motor/HTmotor/HT04.c
index eec1167..32b109a 100644
--- a/modules/motor/HTmotor/HT04.c
+++ b/modules/motor/HTmotor/HT04.c
@@ -121,7 +121,7 @@ HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
     Daemon_Init_Config_s conf = {
         .callback = HTMotorLostCallback,
         .owner_id = motor,
-        .reload_count = 5, // 50ms
+        .reload_count = 50, // 50ms
     };
     motor->motor_daemon = DaemonRegister(&conf);
 
diff --git a/modules/motor/LKmotor/LK9025.c b/modules/motor/LKmotor/LK9025.c
index b98c018..6f159db 100644
--- a/modules/motor/LKmotor/LK9025.c
+++ b/modules/motor/LKmotor/LK9025.c
@@ -82,7 +82,7 @@ LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config)
     Daemon_Init_Config_s daemon_config = {
         .callback = LKMotorLostCallback,
         .owner_id = motor,
-        .reload_count = 5, // 50ms
+        .reload_count = 50, // 50ms
     };
     motor->daemon = DaemonRegister(&daemon_config);