diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index 5dc40f2..34e65ee 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -4,8 +4,8 @@
 #include "ins_task.h"
 #include "message_center.h"
 #include "general_def.h"
-
 #include "bmi088.h"
+#include "vofa.h"
 
 static attitude_t *gimba_IMU_data; // 云台IMU数据
 static DJIMotorInstance *yaw_motor, *pitch_motor;
@@ -14,9 +14,32 @@ static Publisher_t *gimbal_pub;                   // 云台应用消息发布者
 static Subscriber_t *gimbal_sub;                  // cmd控制消息订阅者
 static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态信息
 static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv;         // 来自cmd的控制信息
-#include "vofa.h"
 
 
+static void LimitPitchAngleAuto() {
+    /** 注意电机角度与陀螺仪角度方向是否相同
+     * 目前 add > 0, 向下转动
+     * 电机角度值减小
+     * 陀螺仪角度值增大
+     **/
+    float add;
+    float angle_set;
+
+    add = gimbal_cmd_recv.pitch - gimba_IMU_data->Pitch;
+
+    if(pitch_motor->measure.angle_single_round - add > PITCH_MAX_RELATIVE_ANGLE){
+        if(add < 0.0f ){
+            add = PITCH_MAX_ANGLE - pitch_motor->measure.angle_single_round;
+        }
+    }else if(pitch_motor->measure.angle_single_round - add < PITCH_MIN_RELATIVE_ANGLE){
+        if(add > 0.0f){
+            add = PITCH_MIN_RELATIVE_ANGLE - pitch_motor->measure.angle_single_round;
+        }
+    }
+    angle_set = gimba_IMU_data->Pitch;
+    DJIMotorSetRef(pitch_motor, angle_set+add);
+}
+
 void GimbalInit() {
     gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
     // YAW
@@ -127,6 +150,7 @@ void GimbalTask() {
             DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
             DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
             DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
+            //LimitPitchAngleAuto();
             break;
             // 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关
         case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快)
diff --git a/application/robot_def.h b/application/robot_def.h
index 407929f..490fff0 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -31,6 +31,11 @@
 #define PITCH_HORIZON_ECD 1670      // 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 25           // 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 -18          // 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)
+
+#define PITCH_MAX_RELATIVE_ANGLE 123        // 云台相对底盘最大角度
+#define PITCH_MIN_RELATIVE_ANGLE 80          // 云台相对底盘最小角度
+
+
 // 发射参数
 #define ONE_BULLET_DELTA_ANGLE 45    // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
 #define REDUCTION_RATIO_LOADER 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index b75959d..bbdafb4 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -217,8 +217,8 @@ void ShootTask()
 //                DJIMotorSetRef(friction_r, 0);
 //                break;
             //default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
-                DJIMotorSetRef(friction_l, 30000);
-                DJIMotorSetRef(friction_r, 30000);
+                DJIMotorSetRef(friction_l, 34000);
+                DJIMotorSetRef(friction_r, 34000);
 //                break;
 //        }
     }
diff --git a/modules/auto_aim/auto_aim.c b/modules/auto_aim/auto_aim.c
index 695f3a7..9d0f257 100644
--- a/modules/auto_aim/auto_aim.c
+++ b/modules/auto_aim/auto_aim.c
@@ -30,14 +30,22 @@ void aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_
             aim_sel->armor_pose[i].yaw = aim_sel->target_state.yaw + i * PI;
         }
 
-        float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw);
-
-        //因为是平衡步兵 只需判断两块装甲板即可
-        float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[1].yaw);
-        if (temp_yaw_diff < yaw_diff_min) {
-            yaw_diff_min = temp_yaw_diff;
+//        float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw);
+//
+//        //因为是平衡步兵 只需判断两块装甲板即可
+//        float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[1].yaw);
+//        if (temp_yaw_diff < yaw_diff_min) {
+//            yaw_diff_min = temp_yaw_diff;
+//            idx = 1;
+//        }
+        // 平衡步兵选择两块装甲板中较近的装甲板
+        float distance_min = powf(aim_sel->armor_pose[0].x, 2) + powf(aim_sel->armor_pose[0].y, 2);
+        float distance_temp = powf(aim_sel->armor_pose[1].x, 2) + powf(aim_sel->armor_pose[1].y, 2);
+        if (distance_temp < distance_min) {
+            distance_min = distance_temp;
             idx = 1;
         }
+
     } else if (aim_sel->target_state.armor_num == 3)//前哨站
     {
         for (i = 0; i < 3; i++) {
@@ -55,15 +63,70 @@ void aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_
             use_1 = !use_1;
         }
 
-        //计算枪管到目标装甲板yaw最小的那个装甲板
-        float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw);
+//        //计算枪管到目标装甲板yaw最小的那个装甲板
+//        float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw);
+//        for (i = 1; i < 3; i++) {
+//            float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[i].yaw);
+//            if (temp_yaw_diff < yaw_diff_min) {
+//                yaw_diff_min = temp_yaw_diff;
+//                idx = i;
+//            }
+//        }
+        // 选择两块较近的装甲板，再选择两块装甲板与自身位置连线，同旋转中心自身位置连线，夹角较小的为目标装甲板
+//         float distance_temp0 = powf(aim_sel->armor_pose[0].x, 2) + powf(aim_sel->armor_pose[0].y, 2);
+//         float distance_temp1 = powf(aim_sel->armor_pose[1].x, 2) + powf(aim_sel->armor_pose[1].y, 2);
+//         float distance_temp2 = powf(aim_sel->armor_pose[2].x, 2) + powf(aim_sel->armor_pose[2].y, 2);
+
+//        int label_first = 0;
+//        int label_second = 1;
+//        if (distance_temp0 > distance_temp1) {
+//            label_first = 1;
+//            if (distance_temp0 > distance_temp2) {
+//                label_second = 2;
+//            } else label_second = 0;
+//        } else {
+//            label_first = 0;
+//            if (distance_temp1 > distance_temp2) {
+//                label_second = 2;
+//            } else label_second = 1;
+//        }
+
+        // 选择两块较近的装甲板
+        float distance[3];
+        for (i = 0; i < 3; i++) {
+            distance[i] = powf(aim_sel->armor_pose[i].x, 2) + powf(aim_sel->armor_pose[i].y, 2);
+        }
+        int label_first = 0;
+        int label_second = 0;
+
         for (i = 1; i < 3; i++) {
-            float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[i].yaw);
-            if (temp_yaw_diff < yaw_diff_min) {
-                yaw_diff_min = temp_yaw_diff;
-                idx = i;
+            if(distance[i] < distance[label_first]){
+                label_second = label_first;
+                label_first = i;
+            }else if(distance[i] < distance[label_second]){
+                label_second = i;
+            }else if(distance[i] < distance[label_second] && distance[i] < distance[label_first]){
+                label_second = i;
             }
         }
+
+        //再选择两块装甲板与自身位置连线，同旋转中心自身位置连线，夹角较小的为目标装甲板
+        float center_length = sqrtf(powf(aim_sel->target_state.x, 2) + powf(aim_sel->target_state.y, 2));
+
+        float cos_theta_first = (aim_sel->armor_pose[label_first].x * aim_sel->target_state.x +
+                                 aim_sel->armor_pose[label_first].y * aim_sel->target_state.y) /
+                                (sqrtf(powf(aim_sel->armor_pose[label_first].x, 2) +
+                                       powf(aim_sel->armor_pose[label_first].y, 2)) * center_length);
+        float cos_theta_second = (aim_sel->armor_pose[label_second].x * aim_sel->target_state.x +
+                                  aim_sel->armor_pose[label_second].y * aim_sel->target_state.y) /
+                                 (sqrtf(powf(aim_sel->armor_pose[label_second].x, 2) +
+                                        powf(aim_sel->armor_pose[label_second].y, 2)) * center_length);
+
+        if (cos_theta_first > cos_theta_second)
+            idx = label_first;
+        else
+            idx = label_second;
+
     } else {
         for (i = 0; i < 4; i++) {
             float tmp_yaw = aim_sel->target_state.yaw + i * PI / 2.0;
@@ -77,15 +140,51 @@ void aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_
             use_1 = !use_1;
         }
 
-        //计算枪管到目标装甲板yaw最小的那个装甲板
-        float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw);
+//        //计算枪管到目标装甲板yaw最小的那个装甲板
+//        float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw);
+//        for (i = 1; i < 4; i++) {
+//            float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[i].yaw);
+//            if (temp_yaw_diff < yaw_diff_min) {
+//                yaw_diff_min = temp_yaw_diff;
+//                idx = i;
+//            }
+//        }
+
+// 选择两块较近的装甲板
+        float distance[4];
+        for (i = 0; i < 4; i++) {
+            distance[i] = powf(aim_sel->armor_pose[i].x, 2) + powf(aim_sel->armor_pose[i].y, 2);
+        }
+        int label_first = 0;
+        int label_second = 0;
+
         for (i = 1; i < 4; i++) {
-            float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[i].yaw);
-            if (temp_yaw_diff < yaw_diff_min) {
-                yaw_diff_min = temp_yaw_diff;
-                idx = i;
+            if(distance[i] < distance[label_first]){
+                label_second = label_first;
+                label_first = i;
+            }else if(distance[i] < distance[label_second]){
+                label_second = i;
+            }else if(distance[i] < distance[label_second] && distance[i] < distance[label_first]){
+                label_second = i;
             }
         }
+
+        //再选择两块装甲板与自身位置连线，同旋转中心自身位置连线，夹角较小的为目标装甲板
+        float center_length = sqrtf(powf(aim_sel->target_state.x, 2) + powf(aim_sel->target_state.y, 2));
+
+        float cos_theta_first = (aim_sel->armor_pose[label_first].x * aim_sel->target_state.x +
+                                 aim_sel->armor_pose[label_first].y * aim_sel->target_state.y) /
+                                (sqrtf(powf(aim_sel->armor_pose[label_first].x, 2) +
+                                       powf(aim_sel->armor_pose[label_first].y, 2)) * center_length);
+        float cos_theta_second = (aim_sel->armor_pose[label_second].x * aim_sel->target_state.x +
+                                  aim_sel->armor_pose[label_second].y * aim_sel->target_state.y) /
+                                 (sqrtf(powf(aim_sel->armor_pose[label_second].x, 2) +
+                                        powf(aim_sel->armor_pose[label_second].y, 2)) * center_length);
+
+        if (cos_theta_first > cos_theta_second)
+            idx = label_first;
+        else
+            idx = label_second;
     }
     aim_sel->aim_point[0] = aim_sel->armor_pose[idx].x + aim_sel->target_state.vx * aim_sel->delay_time;
     aim_sel->aim_point[1] = aim_sel->armor_pose[idx].y + aim_sel->target_state.vy * aim_sel->delay_time;