diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index ccef766..e3db4ba 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -151,10 +151,10 @@ void ChassisInit()
     motor_steering_lf                                   = DJIMotorInit(&chassis_motor_steering_config);
 
     PID_Init_Config_s chassis_follow_pid_conf = {
-        .Kp                = 20, // 6
+        .Kp                = 6, // 6
         .Ki                = 0,
-        .Kd                = 3, // 0.5
-        .DeadBand          = 0.5f,
+        .Kd                = 0.495, // 0.5
+        // .DeadBand          = 0.5f,
         //.CoefA             = 0.2,
         //.CoefB             = 0.3,
         //.Improve           = PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_DerivativeFilter | PID_Derivative_On_Measurement | PID_Integral_Limit | PID_Derivative_On_Measurement,
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index b130af5..bcf8eab 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -85,7 +85,7 @@ static void CalcOffsetAngle()
     static float last_offset_angle = 0;
     const float smooth_factor = 0.3f; // 平滑因子,0~1之间,值越大平滑效果越明显
     float new_offset = gimbal_fetch_data.yaw_motor_total_angle - YAW_ALIGN_ANGLE;
-#if YAW_CHASSIS_REVERSE
+#if YAW_ECD_GREATER_THAN_4096
     new_offset = -new_offset;
 #endif
     float angle_diff = new_offset - last_offset_angle;
diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index d4ecc3c..3a086e0 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -56,7 +56,7 @@ void GimbalInit()
             .speed_feedback_source = OTHER_FEED,
             .outer_loop_type = ANGLE_LOOP,
             .close_loop_type = ANGLE_LOOP | SPEED_LOOP,
-            .motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
+            .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
         },
         .motor_type = GM6020};
     // PITCH
diff --git a/application/robot_def.h b/application/robot_def.h
index 383ed6b..07ae8b0 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -27,7 +27,7 @@
 /* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */
 // 云台参数
 #define YAW_CHASSIS_ALIGN_ECD 8192  // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
-#define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
+#define YAW_ECD_GREATER_THAN_4096 1 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
 #define PITCH_HORIZON_ECD 3412      // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
 #define PITCH_MAX_ANGLE 0           // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
 #define PITCH_MIN_ANGLE 0           // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)