diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index 611276b..21a8c2a 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -331,7 +331,7 @@ static uint8_t DrivenMotorIsLost()
     return 0;
 }
 
-/* Chassis-board local RC control. Right switch down is hard emergency stop. */
+/* Chassis-board local RC control. Rightmost safety switch down is emergency stop. */
 static void ControlSwitch()
 {
     memset(&chassis_cmd_recv, 0, sizeof(chassis_cmd_recv));
@@ -349,8 +349,13 @@ static void ControlSwitch()
     }
 
     uint8_t switch_right = rc_data[TEMP].rc.switch_right;
+#ifdef REMOTE_FS_I6
+    if (!switch_is_up(switch_right))
+        return;
+#else
     if (!switch_is_up(switch_right) && !switch_is_mid(switch_right))
         return;
+#endif
 
     float chassis_vol = referee_data->PowerHeatData.chassis_voltage * 0.001f;
     if (chassis_vol > REFEREE_VOLTAGE_VALID_MIN &&
@@ -362,6 +367,9 @@ static void ControlSwitch()
 
     chassis_cmd_recv.chassis_mode = CHASSIS_STOOL_MODE;
     chassis_cmd_recv.vx = RCChannelToRatio(rc_data[TEMP].rc.rocker_r1) * STOOL_SPEED_REF;
+#ifdef REMOTE_FS_I6
+    chassis_cmd_recv.offset_angle = -RCChannelToRatio(rc_data[TEMP].rc.rocker_r_) * STOOL_YAW_RATE_REF;
+#else
     if (switch_is_up(switch_right))
     {
         chassis_cmd_recv.offset_angle = -STOOL_SPIN_YAW_RATE_REF;
@@ -371,6 +379,7 @@ static void ControlSwitch()
     {
         chassis_cmd_recv.offset_angle = -RCChannelToRatio(rc_data[TEMP].rc.rocker_r_) * STOOL_YAW_RATE_REF;
     }
+#endif
 }
 
 /* Joint motors must remain disabled on this demo chassis. */
diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c
index 930ff2f..43d3df3 100644
--- a/modules/remote/remote_control.c
+++ b/modules/remote/remote_control.c
@@ -6,11 +6,24 @@
 #include "daemon.h"
 #include "bsp_log.h"
 
-#define REMOTE_CONTROL_FRAME_SIZE 18u // 遥控器接收的buffer大小
+#ifdef REMOTE_FS_I6
+#define REMOTE_CONTROL_FRAME_SIZE 25u
+#define SBUS_HEAD 0x0Fu
+#define SBUS_END 0x00u
+#define SBUS_FLAG_FRAME_LOST (1u << 2)
+#define SBUS_FLAG_FAILSAFE (1u << 3)
+#define FSI6_CHANNEL_VALID_MIN 172u
+#define FSI6_CHANNEL_VALID_MAX 1811u
+#define FSI6_SWITCH_UP_MAX 700u
+#define FSI6_SWITCH_DOWN_MIN 1350u
+#else
+#define REMOTE_CONTROL_FRAME_SIZE 18u
+#endif
 
 // 遥控器数据
 static RC_ctrl_t rc_ctrl[2] = {0};     //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断
 static uint8_t rc_init_flag = 0; // 遥控器初始化标志位
+static uint8_t rc_data_valid = 0;
 
 // 遥控器拥有的串口实例,因为遥控器是单例,所以这里只有一个,就不封装了
 static USARTInstance *rc_usart_instance;
@@ -20,19 +33,22 @@ static DaemonInstance *rc_daemon_instance;
  * @brief 矫正遥控器摇杆的值,超过660或者小于-660的值都认为是无效值,置0
  *
  */
+#ifdef REMOTE_DJI_DT7
 static void RectifyRCjoystick()
 {
     for (uint8_t i = 0; i < 5; ++i)
         if (abs(*(&rc_ctrl[TEMP].rc.rocker_l_ + i)) > 660)
             *(&rc_ctrl[TEMP].rc.rocker_l_ + i) = 0;
 }
+#endif
 
 /**
  * @brief 遥控器数据解析
  *
  * @param sbus_buf 接收buffer
  */
-static void sbus_to_rc(const uint8_t *sbus_buf)
+#ifdef REMOTE_DJI_DT7
+static uint8_t sbus_to_rc(const uint8_t *sbus_buf)
 {
     // 摇杆,直接解算时减去偏置
     rc_ctrl[TEMP].rc.rocker_r_ = ((sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff) - RC_CH_VALUE_OFFSET;                              //!< Channel 0
@@ -85,7 +101,84 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
     }
 
     memcpy(&rc_ctrl[LAST], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据,用于按键持续按下和切换的判断
+    return 1;
 }
+#endif
+
+#ifdef REMOTE_FS_I6
+static uint8_t FSi6EndByteIsValid(uint8_t value)
+{
+    return value == SBUS_END || value == 0x04u || value == 0x14u ||
+           value == 0x24u || value == 0x34u;
+}
+
+static uint16_t FSi6DecodeChannel(const uint8_t *sbus_buf, uint8_t channel)
+{
+    uint16_t bit_index = (uint16_t)channel * 11u;
+    uint8_t byte_index = (uint8_t)(1u + bit_index / 8u);
+    uint8_t bit_offset = (uint8_t)(bit_index % 8u);
+    uint32_t packed = (uint32_t)sbus_buf[byte_index] |
+                      ((uint32_t)sbus_buf[byte_index + 1u] << 8u) |
+                      ((uint32_t)sbus_buf[byte_index + 2u] << 16u);
+    return (uint16_t)((packed >> bit_offset) & 0x07FFu);
+}
+
+static int16_t FSi6NormalizeChannel(uint16_t value)
+{
+    int32_t normalized = ((int32_t)value - (int32_t)RC_CH_VALUE_OFFSET) * 660 / 784;
+    if (normalized > 660)
+        normalized = 660;
+    else if (normalized < -660)
+        normalized = -660;
+    return (int16_t)normalized;
+}
+
+static uint8_t FSi6DecodeSwitch(uint16_t value)
+{
+    if (value < FSI6_SWITCH_UP_MAX)
+        return RC_SW_UP;
+    if (value > FSI6_SWITCH_DOWN_MIN)
+        return RC_SW_DOWN;
+    return RC_SW_MID;
+}
+
+static uint8_t sbus_to_rc(const uint8_t *sbus_buf)
+{
+    if (sbus_buf[0] != SBUS_HEAD || !FSi6EndByteIsValid(sbus_buf[24]) ||
+        (sbus_buf[23] & (SBUS_FLAG_FRAME_LOST | SBUS_FLAG_FAILSAFE)) != 0u)
+        return 0;
+
+    for (uint8_t i = 0; i < 10u; i++)
+    {
+        uint16_t value = FSi6DecodeChannel(sbus_buf, i);
+        if (value < FSI6_CHANNEL_VALID_MIN || value > FSI6_CHANNEL_VALID_MAX)
+            return 0;
+        rc_ctrl[TEMP].rc.ch[i] = value;
+    }
+
+    /* Keep the app-facing layout compatible with DT7 control semantics. */
+    rc_ctrl[TEMP].rc.rocker_l_ = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[0]);
+    rc_ctrl[TEMP].rc.rocker_l1 = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[1]);
+    rc_ctrl[TEMP].rc.rocker_r1 = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[2]);
+    rc_ctrl[TEMP].rc.rocker_r_ = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[3]);
+    rc_ctrl[TEMP].rc.dial = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[8]);
+
+    rc_ctrl[TEMP].sw_a = FSi6DecodeSwitch(rc_ctrl[TEMP].rc.ch[4]);
+    rc_ctrl[TEMP].sw_b = FSi6DecodeSwitch(rc_ctrl[TEMP].rc.ch[5]);
+    rc_ctrl[TEMP].sw_c = FSi6DecodeSwitch(rc_ctrl[TEMP].rc.ch[6]);
+    rc_ctrl[TEMP].sw_d = FSi6DecodeSwitch(rc_ctrl[TEMP].rc.ch[7]);
+
+    /* SWC selects the auxiliary app mode; SWD is the rightmost safety switch. */
+    rc_ctrl[TEMP].rc.switch_left = rc_ctrl[TEMP].sw_c;
+    rc_ctrl[TEMP].rc.switch_right = rc_ctrl[TEMP].sw_d;
+
+    memset(&rc_ctrl[TEMP].mouse, 0, sizeof(rc_ctrl[TEMP].mouse));
+    memset(&rc_ctrl[TEMP].key, 0, sizeof(rc_ctrl[TEMP].key));
+    memset(&rc_ctrl[TEMP].key_count, 0, sizeof(rc_ctrl[TEMP].key_count));
+    memcpy(&rc_ctrl[LAST], &rc_ctrl[TEMP], sizeof(RC_ctrl_t));
+    return 1;
+}
+#endif
 
 /**
  * @brief 对sbus_to_rc的简单封装,用于注册到bsp_usart的回调函数中
@@ -93,8 +186,18 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
  */
 static void RemoteControlRxCallback()
 {
-    DaemonReload(rc_daemon_instance);         // 先喂狗
-    sbus_to_rc(rc_usart_instance->recv_buff); // 进行协议解析
+    if (sbus_to_rc(rc_usart_instance->recv_buff))
+    {
+        rc_data_valid = 1;
+        DaemonReload(rc_daemon_instance);
+    }
+#ifdef REMOTE_FS_I6
+    else
+    {
+        rc_data_valid = 0;
+        memset(rc_ctrl, 0, sizeof(rc_ctrl));
+    }
+#endif
 }
 
 /**
@@ -103,6 +206,7 @@ static void RemoteControlRxCallback()
  */
 static void RCLostCallback(void *id)
 {
+    rc_data_valid = 0;
     memset(rc_ctrl, 0, sizeof(rc_ctrl)); // 清空遥控器数据
     USARTServiceInit(rc_usart_instance); // 尝试重新启动接收
     LOGWARNING("[rc] remote control lost");
@@ -131,6 +235,6 @@ RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
 uint8_t RemoteControlIsOnline()
 {
     if (rc_init_flag)
-        return DaemonIsOnline(rc_daemon_instance);
+        return rc_data_valid && DaemonIsOnline(rc_daemon_instance);
     return 0;
-}
\ No newline at end of file
+}
diff --git a/modules/remote/remote_control.h b/modules/remote/remote_control.h
index c12f810..b3ab0bf 100644
--- a/modules/remote/remote_control.h
+++ b/modules/remote/remote_control.h
@@ -17,6 +17,21 @@
 #include "main.h"
 #include "usart.h"
 
+/* Change this one macro to select the remote control protocol. */
+#define REMOTE_TYPE_DJI_DT7 1
+#define REMOTE_TYPE_FS_I6 2
+#ifndef REMOTE_CONTROL_TYPE
+#define REMOTE_CONTROL_TYPE REMOTE_TYPE_FS_I6 // Change to REMOTE_TYPE_DJI_DT7 for DT7.
+#endif
+
+#if REMOTE_CONTROL_TYPE == REMOTE_TYPE_DJI_DT7
+#define REMOTE_DJI_DT7
+#elif REMOTE_CONTROL_TYPE == REMOTE_TYPE_FS_I6
+#define REMOTE_FS_I6
+#else
+#error "Unsupported remote control protocol"
+#endif
+
 // 用于遥控器数据读取,遥控器数据是一个大小为2的数组
 #define LAST 1
 #define TEMP 0
@@ -99,6 +114,10 @@ typedef struct
 
         uint8_t switch_left;  // 左侧开关
         uint8_t switch_right; // 右侧开关
+
+#ifdef REMOTE_FS_I6
+        uint16_t ch[10]; // FSi6原始SBUS通道
+#endif
     } rc;
     struct
     {
@@ -111,6 +130,13 @@ typedef struct
     Key_t key[3]; // 改为位域后的键盘索引,空间减少8倍,速度增加16~倍
 
     uint8_t key_count[3][16];
+
+#ifdef REMOTE_FS_I6
+    uint8_t sw_a;
+    uint8_t sw_b;
+    uint8_t sw_c;
+    uint8_t sw_d;
+#endif
 } RC_ctrl_t;
 
 /* ------------------------- Internal Data ----------------------------------- */