diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index 39bf046..0bbd0b0 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -62,16 +62,16 @@ void ChassisInit()
         .can_init_config.can_handle = &hcan1,
         .controller_param_init_config = {
             .speed_PID = {
-                .Kp = 10, // 4.5
-                .Ki = 0,  // 0
-                .Kd = 0,  // 0
+                .Kp = 17, // 4.5
+                .Ki = 3,  // 0
+                .Kd = 0.02f,  // 0
                 .IntegralLimit = 3000,
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .MaxOut = 12000,
             },
             .current_PID = {
-                .Kp = 0.4, // 0.4
-                .Ki = 0,   // 0
+                .Kp = 0.4f, // 0.4
+                .Ki = 0.1f,   // 0
                 .Kd = 0,
                 .IntegralLimit = 3000,
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 416f575..3937c50 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -172,9 +172,9 @@ static void RemoteControlSet()
 
             auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
 
-            gimbal_cmd_send.yaw = trajectory_cal.cmd_yaw * 180 / PI;
+            gimbal_cmd_send.yaw = -trajectory_cal.cmd_yaw * 180 / PI;
 
-            gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
+            gimbal_cmd_send.pitch = -trajectory_cal.cmd_pitch * 180 / PI;
 
             float yaw_err = fabsf(trajectory_cal.cmd_yaw - gimbal_cmd_send.yaw);
             if (yaw_err <= 0.008) //3度
diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index 7d29f37..900d6b0 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -26,9 +26,9 @@ void GimbalInit()
         },
         .controller_param_init_config = {
             .angle_PID = {
-                .Kp = 30, // 8
+                .Kp = 200, // 8
                 .Ki = 0,
-                .Kd = 1,
+                .Kd = 6,
                 .DeadBand = 0.1,
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .IntegralLimit = 100,