diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index ac24c6f..100e01d 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -31,7 +31,7 @@ static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反
 
 static RC_ctrl_t *rc_data;              // 遥控器数据,初始化时返回
 static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
-static Vision_Send_s vision_send_data;  // 视觉发送数据
+// static Vision_Send_s vision_send_data;  // 视觉发送数据
 
 static Publisher_t *gimbal_cmd_pub;            // 云台控制消息发布者
 static Subscriber_t *gimbal_feed_sub;          // 云台反馈信息订阅者
@@ -334,8 +334,9 @@ void RobotCMDTask()
 
     EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
 
-    // 设置视觉发送数据,还需增加加速度和角速度数据
-    // VisionSetFlag(chassis_fetch_data.enemy_color,,chassis_fetch_data.bullet_speed)
+    // 设置视觉发送数据
+    VisionSetFlag(chassis_fetch_data.enemy_color, VISION_MODE_AIM , chassis_fetch_data.bullet_speed);
+    VisionSetAltitude(gimbal_fetch_data.gimbal_imu_data.Yaw, gimbal_fetch_data.gimbal_imu_data.Pitch, gimbal_fetch_data.gimbal_imu_data.Roll);
 
     // 推送消息,双板通信,视觉通信等
     // 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
@@ -347,5 +348,5 @@ void RobotCMDTask()
 #endif // GIMBAL_BOARD
     PubPushMessage(shoot_cmd_pub, (void *)&shoot_cmd_send);
     PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send);
-    VisionSend(&vision_send_data);
+    VisionSend();
 }
diff --git a/modules/led/led.h b/modules/led/led.h
index 0741315..e8b4e1b 100644
--- a/modules/led/led.h
+++ b/modules/led/led.h
@@ -28,6 +28,6 @@ void LEDSet(LEDInstance *_led,uint8_t alpha,uint8_t color_value,uint8_t brightne
 
 void LEDSwitch(LEDInstance *_led,uint8_t led_switch);
 
-void LEDShow();
+void LEDShow(uint32_t aRGB);
 
 #endif // !_LED_H_