diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index 9b561e7..b241cd0 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -151,9 +151,9 @@ void ChassisInit()
     motor_steering_lb                                   = DJIMotorInit(&chassis_motor_steering_config);
 
     PID_Init_Config_s chassis_follow_pid_conf = {
-        .Kp                = 6, // 6
+        .Kp                = 1.05, // 6
         .Ki                = 0,
-        .Kd                = 0.495, // 0.495
+        .Kd                = 0.1, // 0.495
          .DeadBand          = 0.5f,// 启用死区，值为0.5度
         //.CoefA             = 0.2,
         //.CoefB             = 0.3,
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 294e8d3..1c0e786 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -84,7 +84,7 @@ void RobotCMDInit()
 static void CalcOffsetAngle()
 {
     static float last_offset_angle = 0;
-    const float smooth_factor = 0.4f; // 平滑因子,0~1之间,值越大平滑效果越明显
+    const float smooth_factor = 0.3f; // 平滑因子,0~1之间,值越大平滑效果越明显
 
     const float deadband = 3.0f;       // 死区值
     // 新增：跟踪模式变化，用于重置基准角度