diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index a2597c8..9b561e7 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -153,7 +153,7 @@ void ChassisInit()
     PID_Init_Config_s chassis_follow_pid_conf = {
         .Kp                = 6, // 6
         .Ki                = 0,
-        .Kd                = 0.495, // 0.5
+        .Kd                = 0.495, // 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 17ee02d..294e8d3 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -15,7 +15,7 @@
 // 私有宏,自动将编码器转换成角度值
 #define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
 #define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360
-
+uint16_t around=0;
 /* cmd应用包含的模块实例指针和交互信息存储*/
 #ifdef GIMBAL_BOARD // 对双板的兼容,条件编译
 #include "can_comm.h"
@@ -80,23 +80,23 @@ void RobotCMDInit()
  * @brief 根据gimbal app传回的当前电机角度计算和零位的误差
  *        单圈绝对角度的范围是0~360,说明文档中有图示
  *
- */static float base_total_angle = 0.0f; // 用于计算偏移的基准角度
+ *///static float base_total_angle = 0.0f; // 用于计算偏移的基准角度
 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
+    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 deadband = 0.5f;       // 死区值
+    const float deadband = 3.0f;       // 死区值
     // 新增：跟踪模式变化，用于重置基准角度
-    static chassis_mode_e last_chassis_mode = CHASSIS_NO_FOLLOW;//
-
-
-    // 当从旋转模式切换到跟随模式时，重置基准角度
-    if (last_chassis_mode == CHASSIS_ROTATE && chassis_cmd_send.chassis_mode == CHASSIS_FOLLOW_GIMBAL_YAW)
-    {
-        base_total_angle = gimbal_fetch_data.yaw_motor_total_angle;
-        last_offset_angle = 0.0f; // 同时重置历史偏移值
-    }
+    // static chassis_mode_e last_chassis_mode = CHASSIS_NO_FOLLOW;//
+    //
+    //
+    // // 当从旋转模式切换到跟随模式时，重置基准角度
+    // if (last_chassis_mode == CHASSIS_ROTATE && chassis_cmd_send.chassis_mode == CHASSIS_FOLLOW_GIMBAL_YAW)
+    // {
+    //     base_total_angle = gimbal_fetch_data.yaw_motor_total_angle;
+    //     last_offset_angle = 0.0f; // 同时重置历史偏移值
+    // }
 
     float new_offset = gimbal_fetch_data.yaw_motor_total_angle - YAW_ALIGN_ANGLE;
 #if YAW_ECD_GREATER_THAN_4096
@@ -109,22 +109,22 @@ static void CalcOffsetAngle()
         new_offset += 360.0f;
     /////
     // 应用死区
-    //if (fabs(new_offset) < deadband) {
-    //    new_offset = 0.0f;
-   // } else if (new_offset > 0) {
-    //    new_offset -= deadband;
-   //} else {
-    //    new_offset += deadband;
-    //}//////
-        chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor;
-    last_offset_angle = chassis_cmd_send.offset_angle;
-    // 更新模式状态
-    last_chassis_mode = chassis_cmd_send.chassis_mode;
-    // 当处于旋转模式时，更新基准角度以防止累积过大误差
-    if (chassis_cmd_send.chassis_mode == CHASSIS_ROTATE)
-    {
-        base_total_angle = gimbal_fetch_data.yaw_motor_total_angle;
-    }
+    if (fabs(new_offset) < deadband) {
+        new_offset = 0.0f;
+    } else if (new_offset > 0) {
+       new_offset -= deadband;
+   } else {
+        new_offset += deadband;
+    }//////
+         chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor;
+     last_offset_angle = chassis_cmd_send.offset_angle;
+    // // 更新模式状态
+    // last_chassis_mode = chassis_cmd_send.chassis_mode;
+    // // 当处于旋转模式时，更新基准角度以防止累积过大误差
+    // if (chassis_cmd_send.chassis_mode == CHASSIS_ROTATE)
+    // {
+    //     base_total_angle = gimbal_fetch_data.yaw_motor_total_angle;
+    // }
 
     // static float angle;
     // static float last_diff = 0.0f; // 用于在±180°附近保持上次符号，避免来回跳变
@@ -181,11 +181,15 @@ static void RemoteControlSet()
     // 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
     if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘跟随云台
     {
+        // around = 0;
         chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
         gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
+        around= chassis_cmd_send.offset_angle/360;
     }
     else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动
     {
+        //gimbal_fetch_data.yaw_motor_total_angle = gimbal_fetch_data.yaw_motor_total_angle-around*360;
+        chassis_cmd_send.offset_angle =  chassis_cmd_send.offset_angle - 360*around;
         chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
         gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
     }
diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index 6b3798b..0fa3539 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -27,7 +27,7 @@ void GimbalInit()
         .controller_param_init_config = {
             .angle_PID = {
                 //.Kp = 0.685, // 8
-                .Kp = 0.6, // 8
+                .Kp = 0.685, // 8
                 //.Ki = 0.315,
                 .Ki = 0.25,
                 .Kd = 0.022,