diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 3a3a610..aec5bd0 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -5,60 +5,118 @@
 #include "master_process.h"
 #include "message_center.h"
 #include "general_def.h"
+#include "dji_motor.h"
+
+// 自动将编码器转换成角度值
+#define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF)
+#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF)
 
 /* gimbal_cmd应用包含的模块实例指针和交互信息存储*/
 #ifndef ONE_BOARD
 #include "can_comm.h"
 static CANCommInstance *chasiss_can_comm; // 双板通信
-#endif                                    // !ONE_BOARD
-static RC_ctrl_t *remote_control_data;    // 遥控器数据
-static Vision_Recv_s *vision_recv_data;   // 视觉接收数据
-static Vision_Send_s *vision_send_data;   // 视觉发送数据
+#endif // !ONE_BOARD
+
+static RC_ctrl_t *remote_control_data;    // 遥控器数据,初始化时返回
+static Vision_Recv_s *vision_recv_data;   // 视觉接收数据指针,初始化时返回
+static Vision_Send_s vision_send_data;    // 视觉发送数据
 
 static Publisher_t *gimbal_cmd_pub;
 static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
-static Subscriber_t *gimbal_cmd_feed_sub;
+static Subscriber_t *gimbal_feed_sub;
 static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
 
 static Publisher_t *shoot_cmd_pub;
 static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
-static Subscriber_t *shoot_cmd_feed_sub;
+static Subscriber_t *shoot_feed_sub;
 static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
 
 static Publisher_t *chassis_cmd_pub;
 static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关
-static Subscriber_t *chassis_cmd_feed_sub;
+static Subscriber_t *chassis_feed_sub;
 static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等
 
-static void CalcOffsetAngle()
-{
-}
-
-static void SetRobotMode()
-{
-}
-
-static void SetCtrlData()
-{
-}
-
-static void SetCtrlMessage()
-{
-}
-
 void GimbalCMDInit()
 {
-    remote_control_data = RC_init(&huart3);
-    vision_recv_data = VisionInit(&huart1);
+    remote_control_data = RC_init(&huart3); // 修改为对应串口,注意dbus协议串口需加反相器
+    vision_recv_data = VisionInit(&huart1); // 视觉通信串口
 
     gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
-    gimbal_cmd_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
+    gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
     shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
-    shoot_cmd_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
+    shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
     chassis_cmd_pub = PubRegister("gimbal2chassis", sizeof(Chassis_Ctrl_Cmd_s));
-    chassis_cmd_feed_sub = SubRegister("chassis2gimbal", sizeof(Chassis_Upload_Data_s));
+    chassis_feed_sub = SubRegister("chassis2gimbal", sizeof(Chassis_Upload_Data_s));
+}
+
+/**
+ * @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 void CalcOffsetAngle()
+{
+    static float angle; // 提高可读性,不然太长了不好看,虽然基本不会动这个函数
+    angle = gimbal_fetch_data.yaw_motor_single_round_angle;
+#if YAW_ECD_GREATER_THAN_4096 // 如果大于180度
+    if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE)
+        chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
+    else if (angle > 180.0f + YAW_ALIGN_ANGLE)
+        chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f;
+    else
+        chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
+#else // 小于180度
+    if (angle > YAW_ALIGN_ANGLE)
+        chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
+    else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f)
+        chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
+    else
+        chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f;
+#endif
+}
+
+/**
+ * @brief 输入为遥控器(调试时)的模式和控制量设置
+ *
+ */
+static void RemoteControlSetMode()
+{
+}
+
+/**
+ * @brief 输入为键鼠时模式和控制量设置
+ *
+ */
+static void MouseKeySetMode()
+{
 }
 
 void GimbalCMDTask()
 {
+    // 从其他应用获取回传数据
+    SubGetMessage(chassis_feed_sub, &chassis_fetch_data);
+    SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
+    SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
+
+    // 根据gimbal的反馈值计算云台和底盘正方向的夹角,不需要传参,通过私有变量完成
+    CalcOffsetAngle();
+
+    if (1) // 遥控器控制
+        RemoteControlSetMode();
+    else if (0) // 键盘控制
+        MouseKeySetMode();
+
+    // 设置视觉发送数据,work_mode在前一部分设置
+    vision_send_data.bullet_speed=chassis_fetch_data.bullet_speed;
+    vision_send_data.enemy_color=chassis_fetch_data.enemy_color;
+    vision_send_data.pitch=gimbal_fetch_data.gimbal_imu_data.Pitch;
+    vision_send_data.yaw=gimbal_fetch_data.gimbal_imu_data.Yaw;
+    vision_send_data.roll=gimbal_fetch_data.gimbal_imu_data.Roll;
+
+    // 推送消息,双板通信,视觉通信等
+    // 应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
+    PubPushMessage(chassis_cmd_pub, &chassis_cmd_send);
+    PubPushMessage(shoot_cmd_pub, &shoot_cmd_send);
+    PubPushMessage(gimbal_cmd_pub, &gimbal_cmd_send);
+    VisionSend(&vision_send_data);
 }
diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index f0d0e20..7f6634b 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -5,9 +5,6 @@
 #include "message_center.h"
 #include "general_def.h"
 
-// 自动将编码器转换成角度值
-#define YAW_CHASSIS_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF)
-#define PTICH_HORIZON_ALIGN_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF)
 
 static attitude_t *Gimbal_IMU_data;     // 云台IMU数据
 static dji_motor_instance *yaw_motor;   // yaw电机
diff --git a/application/robot_def.h b/application/robot_def.h
index e31669f..bbe34bf 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -24,8 +24,9 @@
 
 /* 重要参数定义,注意根据不同机器人进行修改 */
 // 云台参数
-#define YAW_CHASSIS_ALIGN_ECD 0 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
-#define PITCH_HORIZON_ECD 0     // 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 YAW_CHASSIS_ALIGN_ECD 0     // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
+#define YAW_ECD_GREATER_THAN_4096 0 // yaw电机的初始编码器值是否大于4096,是为1,否为0
+#define PITCH_HORIZON_ECD 0         // 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
 // 发射参数
 #define ONE_BULLET_DELTA_ANGLE 0     // 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
@@ -38,7 +39,6 @@
 #define RADIUS_WHEEL 60             // 轮子半径
 #define REDUCTION_RATIO_WHEEL 19.0f // 电机减速比,因为编码器量测的是转子的速度而不是输出轴的速度故需进行转换
 
-
 #if (defined(ONE_BOARD) && defined(CHASSIS_BOARD)) || \
     (defined(ONE_BOARD) && defined(GIMBAL_BOARD)) ||  \
     (defined(CHASSIS_BOARD) && defined(GIMBAL_BOARD))