diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index f556d89..4bfc4a7 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -285,10 +285,12 @@ void ChassisTask()
             chassis_cmd_recv.wz = 4500;
         if(chassis_cmd_recv.wz < -4500)
             chassis_cmd_recv.wz = -4500;
+        break;
     case CHASSIS_FIXED:
         chassis_cmd_recv.vx=0;
         chassis_cmd_recv.vy=0;
         chassis_cmd_recv.wz = 0;
+        break;
 
     default:
         break;
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index f581311..ae2be56 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -310,9 +310,18 @@ static void MouseKeySet()
 {
     chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 60000 - rc_data[TEMP].key[KEY_PRESS].d * 60000; // 系数待测
     chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 60000 - rc_data[TEMP].key[KEY_PRESS].s * 60000;
+    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2)
+    {
+        case 0:
+            gimbal_cmd_send.yaw -= (float)rc_data[TEMP].mouse.x / 660; // 系数待测
+            gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660;
+            break;
+        case 1 :
+            gimbal_cmd_send.yaw -= (float)rc_data[TEMP].mouse.x / 660 * 3; // 系数待测
+            gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 3;
+            break;
+    }
 
-    gimbal_cmd_send.yaw -= (float)rc_data[TEMP].mouse.x / 660 * 9; // 系数待测
-    gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 *5 ;
 
     aim_select.suggest_fire = 0;
     if (rc_data[TEMP].mouse.press_l && (!rc_data[TEMP].mouse.press_r)) // 左键发射模式
@@ -407,14 +416,19 @@ static void MouseKeySet()
     {
         case 0:
             chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
-            gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
             break;
         default:
             chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
-            gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
             break;
     }
-    switch (rc_data[TEMP].key[KEY_PRESS].shift) // V键开启连发//
+    switch (rc_data[TEMP].key[KEY_PRESS].z) // Z键开关吊射模式
+    {
+        case 1:
+            chassis_cmd_send.chassis_mode = CHASSIS_VERTICAL_YAW;
+            //chassis_cmd_send.vx=chassis_cmd_send.vy=0;  //吊射时底盘不动
+            break;
+    }
+    switch (rc_data[TEMP].key[KEY_PRESS].shift) //shift开关超电//
     {
         case 0:
             chassis_cmd_send.P_SuperCap=0;
diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index f584aa0..e866141 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -66,15 +66,15 @@ void GimbalInit()
         },
         .controller_param_init_config = {
             .angle_PID = {
-                .Kp = 0.35f,//20, // 65
+                .Kp = 0.35f,
                 .Ki = 0,
-                .Kd = 0.005f,//1,
+                .Kd = 0.005f,
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .IntegralLimit = 100,//100
                 .MaxOut = 500,//500
             },
             .speed_PID = {
-                .Kp = 6000,//11000,  // 50
+                .Kp = 6000,
                 .Ki = 1000, // 350
                 .Kd = 0,//15000,   // 0
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
diff --git a/application/robot_def.h b/application/robot_def.h
index 668af13..d79330c 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 3.641593  // 云台和底盘对齐指向相同方向时的电机position值,需要加上PI，因为单圈角度计算里增加了PI若对云台有机械改动需要修改
+#define YAW_CHASSIS_ALIGN_ECD 5.482276  // 云台和底盘对齐指向相同方向时的电机position值,需要加上PI，因为单圈角度计算里增加了PI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 13           // 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)