diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 17f0176..16792ea 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -220,44 +220,44 @@ static void RemoteControlSet()
  */
 static void AutoControlSet()
 {
-    static int8_t gimbal_scan_flag = 1;
-    static int8_t scan_dir = 1;
-    trajectory_cal.v0 = 30; //弹速30
-
-    //小云台扫描
-    if(gimbal_scan_flag == 1)
-    {
-        if (scan_dir == 1) gimbal_cmd_send.yaw += 0.001f;
-        else gimbal_cmd_send.yaw -= 0.001f;
-        if(gimbal_fetch_data.mini_yaw_encode_angle <= YAW_MIN_ENCODE_ANGLE + 0.1f) scan_dir = 1;
-        if(gimbal_fetch_data.mini_yaw_encode_angle >= YAW_MAX_ENCODE_ANGLE - 0.1f) scan_dir = -1;
-    }
-
-    if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
-        && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) {
-        aim_select.suggest_fire = 0;
-        //未发现目标
-        no_find_cnt++;
-        if (no_find_cnt >= 2000) {
-            gimbal_scan_flag = 1;
-            auto_aim_flag = 0;
-        }
-        else
-        auto_aim_flag = 1;
-    } else {
-        //弹道解算
-        no_find_cnt = 0;
-        auto_aim_flag = 1;
-
-        auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
-        gimbal_cmd_send.yaw = trajectory_cal.cmd_yaw * 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
-            aim_select.suggest_fire = 1;
-        else
-            aim_select.suggest_fire = 0;
-    }
+//    static int8_t gimbal_scan_flag = 1;
+//    static int8_t scan_dir = 1;
+//    trajectory_cal.v0 = 30; //弹速30
+//
+//    //小云台扫描
+//    if(gimbal_scan_flag == 1)
+//    {
+//        if (scan_dir == 1) gimbal_cmd_send.yaw += 0.001f;
+//        else gimbal_cmd_send.yaw -= 0.001f;
+//        if(gimbal_fetch_data.mini_yaw_encode_angle <= YAW_MIN_ENCODE_ANGLE + 0.1f) scan_dir = 1;
+//        if(gimbal_fetch_data.mini_yaw_encode_angle >= YAW_MAX_ENCODE_ANGLE - 0.1f) scan_dir = -1;
+//    }
+//
+//    if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
+//        && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) {
+//        aim_select.suggest_fire = 0;
+//        //未发现目标
+//        no_find_cnt++;
+//        if (no_find_cnt >= 2000) {
+//            gimbal_scan_flag = 1;
+//            auto_aim_flag = 0;
+//        }
+//        else
+//        auto_aim_flag = 1;
+//    } else {
+//        //弹道解算
+//        no_find_cnt = 0;
+//        auto_aim_flag = 1;
+//
+//        auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
+//        gimbal_cmd_send.yaw = trajectory_cal.cmd_yaw * 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
+//            aim_select.suggest_fire = 1;
+//        else
+//            aim_select.suggest_fire = 0;
+//    }
 }
 
 /**
diff --git a/modules/master_machine/master_process.c b/modules/master_machine/master_process.c
index 410bae8..ce59852 100644
--- a/modules/master_machine/master_process.c
+++ b/modules/master_machine/master_process.c
@@ -181,7 +181,7 @@ void VisionSend()
 
     send_data.header = 0x5A;
     //VisionSetFlag(1);
-    VisionSetAim(recv_data.x,recv_data.y,recv_data.z);
+
     send_data.checksum = crc_16(&send_data.header,sizeof(send_data)-2);
 
     memcpy(send_buffer,&send_data,sizeof(send_data));