diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index 85fb1e5..6860b57 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -27,10 +27,10 @@ void GimbalInit()
         .controller_param_init_config = {
             .angle_PID = {
                 //.Kp = 0.685, // 8
-                .Kp = 0.685, // 8
+                .Kp = 0.585, // 8
                 //.Ki = 0.315,
                 .Ki = 0.25,
-                .Kd = 0.022,
+                .Kd = 0.03,
                 //.DeadBand = 0.1,
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter | PID_ChangingIntegrationRate,
                 .IntegralLimit = 1060,
diff --git a/application/robot_def.h b/application/robot_def.h
index ab6b79f..1465ca5 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -26,7 +26,7 @@
 
 /* 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 3938  // 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_CHASSIS_ALIGN_ECD 1190  // 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 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)