diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index b462c0b..846da79 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -347,7 +347,7 @@ static void LimitChassisOutput()
     // referee_data->PowerHeatData.chassis_power_buffer;
 
     // 完成功率限制后进行电机参考输入设定
-    
+
     // LKMotorSetRef( motor_lf , vt_lf );
     // LKMotorSetRef( motor_rb , vt_rb );
 
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index d8e1c3d..716ee43 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -249,7 +249,7 @@ static void MouseKeySet()
     chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 40 - rc_data[TEMP].key[KEY_PRESS].s * 40; // a向左，d向右
 
     gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 10; // 系数待测
-    gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 10;
+    gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 8;
 
     // 云台软件限位
     if (gimbal_cmd_send.pitch > PITCH_MAX_ANGLE)
diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index 25681e5..d001b27 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -70,18 +70,43 @@ void GimbalInit()
             .can_handle = &hcan2,
             .tx_id = 2,//2
         },
+        // .controller_param_init_config = {
+        //     .angle_PID = {
+        //         .Kp = 40, // 10
+        //         .Ki = 0,
+        //         .Kd = 0,
+        //         .MaxOut = 1000,
+        //     },
+        //     .speed_PID = {
+        //         .Kp = 60,  // 50
+        //         .Ki = 15, // 350
+        //         .Kd = 0.6,   // 0
+        //         .MaxOut = 20000,//20000
+        //     },
         .controller_param_init_config = {
             .angle_PID = {
-                .Kp = 40, // 10
-                .Ki = 0,
-                .Kd = 0,
-                .MaxOut = 1000,
+                .Kp = 0.75, //0.55
+                .Ki = 0.05,//0.05
+                .Kd = 0.02,//0.02
+                .CoefA =0.5,//0.5
+                .CoefB = 0.6,//0.6
+                .Output_LPF_RC = 0.01,
+                .DeadBand = 0.005,//0.02
+                .Derivative_LPF_RC=0.01,//0.008
+                .Improve = PID_Trapezoid_Intergral |PID_ChangingIntegrationRate| PID_Integral_Limit |PID_Derivative_On_Measurement |  PID_OutputFilter |PID_DerivativeFilter,
+                .IntegralLimit = 1,
+                .MaxOut = 600,
             },
             .speed_PID = {
-                .Kp = 60,  // 50
-                .Ki = 15, // 350
-                .Kd = 0.6,   // 0
-                .MaxOut = 20000,//20000
+                .Kp = 500,//22000
+                .Ki = 0,//
+                .Kd =0.0005,
+                // .CoefA = 0.8,
+                // .CoefB = 0.1,
+                .Output_LPF_RC = 0.002,//0.002
+                .Improve = PID_Trapezoid_Intergral |PID_Integral_Limit |PID_Derivative_On_Measurement |  PID_OutputFilter,
+                .IntegralLimit = 5000,
+                .MaxOut = 20000,
             },
             .other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
             // 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
@@ -96,6 +121,7 @@ void GimbalInit()
             // .close_loop_type = SPEED_LOOP,
             .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
         },
+
         .motor_type = GM6020,
     };
     // 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index afd3de6..612ccef 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -163,7 +163,7 @@ void ShootTask()
         case LOAD_1_BULLET:
             DJIMotorOuterLoop(loader, ANGLE_LOOP);// 切换到角度环
             static float target_angle = -1900;
-            target_angle += 51*36;
+            target_angle += 51.2*36;
             //float target_angle = loader->measure.total_angle + 51*36;
             DJIMotorSetRef(loader, target_angle);
             hibernate_time = DWT_GetTimeline_ms();     // 记录触发指令的时间
@@ -176,9 +176,9 @@ void ShootTask()
         // hibernate_time = DWT_GetTimeline_ms();                                                  // 记录触发指令的时间
         // dead_time = 300;                                                                        // 完成3发弹丸发射的时间
         // break;
-            DJIMotorOuterLoop(loader, ANGLE_LOOP);// 切换到角度环
+            DJIMotorOuterLoop(loader, ANGLE_LOOP);// 切换到角度环.
             //static float target_angle = -1872;
-            target_angle += (51*36)*3;
+            target_angle += (51.2*36)*3;
             //float target_angle = loader->measure.total_angle + 51*36;
             DJIMotorSetRef(loader, target_angle);
             hibernate_time = DWT_GetTimeline_ms();     // 记录触发指令的时间