diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 9d3f418..80e7480 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -373,7 +373,7 @@ void RobotCMDTask() {
     // 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
     if (switch_is_down(rc_data[TEMP].rc.switch_left)){ // 遥控器左侧开关状态为[下],遥控器控制
         RemoteControlSet();
-        shoot_cmd_send.shoot_mode =SHOOT_OFF;
+        shoot_cmd_send.shoot_mode =SHOOT_ON;
         shoot_cmd_send.friction_mode = FRICTION_OFF;
     }
     else if (switch_is_up(rc_data[TEMP].rc.switch_left)) {
@@ -384,6 +384,8 @@ void RobotCMDTask() {
     else if (switch_is_mid(rc_data[TEMP].rc.switch_left)) {
         // 遥控器左侧开关状态为[中],视觉模式，使用遥控器控制底盘和云台，同时开启发射系统
         RemoteControlSet();
+        gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_;
+        gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1;
         shoot_cmd_send.shoot_mode =SHOOT_ON;
         shoot_cmd_send.bullet_speed = 30;
         shoot_cmd_send.friction_mode = FRICTION_ON;