diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index ab958f1..cd6070c 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -16,7 +16,7 @@
 #include "bsp_log.h"
 
 // 私有宏,自动将编码器转换成角度值
-#define YAW_ALIGN_ANGLE 175.0f //(YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
+#define YAW_ALIGN_ANGLE 132.0f //(YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
 #define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360
 
 #define PITCH_SCAN -10.0f //扫描阶段PITCH固定角度
@@ -266,10 +266,10 @@ static void RemoteControlSet() {
 static uint8_t sentry_state;
 
 static void AutoControlSet() {
-    chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
+    chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
 
-//    chassis_cmd_send.vx = vision_recv_data->nav_vx;
-//    chassis_cmd_send.vy = vision_recv_data->nav_vy;
+    chassis_cmd_send.vx = vision_recv_data->nav_vx;
+    chassis_cmd_send.vy = vision_recv_data->nav_vy;
     //云台保持陀螺仪控制
     gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
 
@@ -286,10 +286,10 @@ static void AutoControlSet() {
 
         //if(sentry_state > 1)
         {
-            if (yaw_dir == 1) gimbal_cmd_send.yaw += 0.06f;
-            else gimbal_cmd_send.yaw -= 0.06f;
-            if (gimbal_fetch_data.mini_yaw_encode_angle <= YAW_MIN_ENCODE_ANGLE + 2.0f) yaw_dir = 1;
-            if (gimbal_fetch_data.mini_yaw_encode_angle >= YAW_MAX_ENCODE_ANGLE - 2.0f) yaw_dir = -1;
+//            if (yaw_dir == 1) gimbal_cmd_send.yaw += 0.06f;
+//            else gimbal_cmd_send.yaw -= 0.06f;
+//            if (gimbal_fetch_data.mini_yaw_encode_angle <= YAW_MIN_ENCODE_ANGLE + 2.0f) yaw_dir = 1;
+//            if (gimbal_fetch_data.mini_yaw_encode_angle >= YAW_MAX_ENCODE_ANGLE - 2.0f) yaw_dir = -1;
         }
 
         shoot_cmd_send.load_mode = LOAD_STOP;
@@ -303,7 +303,7 @@ static void AutoControlSet() {
         no_find_cnt++;
 
         if (no_find_cnt >= 200) {
-            //gimbal_scan_flag = 1;
+            gimbal_scan_flag = 1;
             //auto_aim_flag = 0;
         }
         //else
@@ -463,7 +463,7 @@ void RobotCMDTask() {
     CANCommSend(cmd_can_comm, (void *) &gimbal_cmd_send); //哨兵左右云台双板通信
     PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send);
     PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send);
-    VisionSend(&vision_send_data);
+//    VisionSend(&vision_send_data);
 }
 
 uint8_t sentry_behave() {
diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index ead1b40..af18fa0 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -242,7 +242,7 @@ void GimbalTask()
     //big_yaw_speed = yaw_speed - yaw_motor->measure.speed_aps * DEGREE_2_RAD;
 
 
-    big_yaw_angle = gimba_IMU_data->YawTotalAngle - (yaw_motor->measure.total_angle - 44);
+    big_yaw_angle = gimba_IMU_data->YawTotalAngle - (yaw_motor->measure.total_angle - (-80));
     //big_yaw_speed = yaw_speed - yaw_motor->measure.speed_aps * DEGREE_2_RAD;
 
     big_yaw_speed = (yaw_speed - yaw_motor->measure.speed_aps * DEGREE_2_RAD);
diff --git a/application/robot_def.h b/application/robot_def.h
index 4fe590b..f039ab2 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -32,8 +32,8 @@
 #define PITCH_MAX_ANGLE 39           // 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 YAW_MAX_ENCODE_ANGLE 139.0f //小yaw编码器限位
-#define YAW_MIN_ENCODE_ANGLE 10.0f
+#define YAW_MAX_ENCODE_ANGLE -10.0f //小yaw编码器限位
+#define YAW_MIN_ENCODE_ANGLE -90.0f
 // 发射参数
 #define ONE_BULLET_DELTA_ANGLE 36    // 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/modules/imu/ins_task.c b/modules/imu/ins_task.c
index a4d505c..9805580 100644
--- a/modules/imu/ins_task.c
+++ b/modules/imu/ins_task.c
@@ -165,7 +165,7 @@ void INS_Task(void)
 
         INS.Yaw = QEKF_INS.Yaw;
         INS.Pitch = QEKF_INS.Pitch;
-        INS.Roll = QEKF_INS.Roll;
+        INS.Roll = - QEKF_INS.Roll;
         INS.YawTotalAngle = QEKF_INS.YawTotalAngle;
 
         //VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll);
diff --git a/modules/master_machine/master_process.c b/modules/master_machine/master_process.c
index 36c2efc..aadf3f0 100644
--- a/modules/master_machine/master_process.c
+++ b/modules/master_machine/master_process.c
@@ -180,7 +180,7 @@ void VisionSend()
 //    // 将数据转化为seasky协议的数据包
 //    get_protocol_send_data(0x02, flag_register, &send_data.yaw, 3, send_buff, &tx_len);
 //    USBTransmit(send_buff, tx_len);
-    static uint8_t send_buffer[24]={0};
+    static uint8_t send_buffer[64]={0};
 
     send_data.header = 0x5A;
     //VisionSetFlag(COLOR_BLUE);
diff --git a/modules/master_machine/master_process.h b/modules/master_machine/master_process.h
index fada1e7..620d57c 100644
--- a/modules/master_machine/master_process.h
+++ b/modules/master_machine/master_process.h
@@ -84,10 +84,10 @@ typedef struct {
     float aim_y;
     float aim_z;
 
-//    uint8_t game_progress;
-//    uint16_t outpost_hp;
-//    float target_x;
-//    float target_y;
+    uint8_t game_progress;
+    uint16_t outpost_hp;
+    float target_x;
+    float target_y;
     uint16_t checksum;
 } SendPacket_t;
 
@@ -112,9 +112,9 @@ typedef struct {
     float dz;
 
     //导航数据
-//    float nav_vx;
-//    float nav_vy;
-//    float nav_wz;
+    float nav_vx;
+    float nav_vy;
+    float nav_wz;
 
     uint16_t checksum;
 } RecievePacket_t;