diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index c38af74..bc23d54 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -107,14 +107,14 @@ void ChassisInit() {
     //左前
     chassis_motor_config.can_init_config.tx_id = 2;
     chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
-    chassis_motor_config.controller_param_init_config.speed_PID.Kp = 4.5f;
+    chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f;
     chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
     chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f;
     motor_lf = DJIMotorInit(&chassis_motor_config);
     //左后
     chassis_motor_config.can_init_config.tx_id = 3;
     chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
-    chassis_motor_config.controller_param_init_config.speed_PID.Kp = 4.5f;
+    chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.5f;
     chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
     chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f;
     motor_lb = DJIMotorInit(&chassis_motor_config);
@@ -276,7 +276,8 @@ static void EstimateSpeed() {
     // chassis_feedback_data.vx vy wz =
     //  ...
 }
-
+static chassis_mode_e last_chassis_mode;
+static float rotate_speed = 80000;
 /* 机器人底盘控制核心任务 */
 void ChassisTask() {
     // 后续增加没收到消息的处理(双板的情况)
@@ -300,26 +301,30 @@ void ChassisTask() {
         DJIMotorEnable(motor_rb);
     }
 
-    // 根据控制模式设定旋转速度
-    switch (chassis_cmd_recv.chassis_mode) {
-        case CHASSIS_NO_FOLLOW: // 底盘不旋转,但维持全向机动,一般用于调整云台姿态
-            chassis_cmd_recv.wz = 0;
-            break;
-        case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
-            chassis_cmd_recv.wz = 10.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
-            LIMIT_MIN_MAX(chassis_cmd_recv.wz,-30000,30000);
-            break;
-        case CHASSIS_SIDEWAYS: // 侧向,不单独设置pid,以误差角度平方为速度输出
-            chassis_cmd_recv.wz = 10.0f * (chassis_cmd_recv.offset_angle - 45)* abs(chassis_cmd_recv.offset_angle - 45);
-            LIMIT_MIN_MAX(chassis_cmd_recv.wz,-30000,30000);
-            break;
-        case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
-            chassis_cmd_recv.wz = 30000;
-            break;
-        default:
-            break;
-    }
+        // 根据控制模式设定旋转速度
+        switch (chassis_cmd_recv.chassis_mode) {
+            case CHASSIS_NO_FOLLOW: // 底盘不旋转,但维持全向机动,一般用于调整云台姿态
+                chassis_cmd_recv.wz = 0;
+                break;
+            case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
+                chassis_cmd_recv.wz = 40.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
+                LIMIT_MIN_MAX(chassis_cmd_recv.wz,-40000,40000);
+                break;
+            case CHASSIS_SIDEWAYS: // 侧向,不单独设置pid,以误差角度平方为速度输出
+                chassis_cmd_recv.wz = 40.0f * (chassis_cmd_recv.offset_angle - 45)* abs(chassis_cmd_recv.offset_angle - 45);
+                LIMIT_MIN_MAX(chassis_cmd_recv.wz,-40000,40000);
+                break;
+            case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
+                if(last_chassis_mode != CHASSIS_ROTATE){
+                    rotate_speed = -rotate_speed;
+                }
+                chassis_cmd_recv.wz = rotate_speed;
+                break;
+            default:
+                break;
+        }
 
+    last_chassis_mode = chassis_cmd_recv.chassis_mode;
     // 根据云台和底盘的角度offset将控制量映射到底盘坐标系上
     // 底盘逆时针旋转为角度正方向;云台命令的方向以云台指向的方向为x,采用右手系(x指向正北时y在正东)
     static float sin_theta, cos_theta;
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 58dd168..f448b18 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -127,12 +127,22 @@ static void CalcOffsetAngle() {
 //功能：死亡后清除小陀螺的状态
 static void death_check()
 {
-    if(referee_data->GameRobotState.current_HP <= 0)
+    if(referee_data->GameRobotState.current_HP <= 0 || referee_data->GameRobotState.power_management_chassis_output == 0)
     {
         rc_data[TEMP].key_count[KEY_PRESS][Key_E] = 0;
+        gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
     }
 }
 
+//功能：等级提升弹频提高
+static void shoot_rate_improve()
+{
+    if(referee_data->GameRobotState.robot_level <= 5)
+        shoot_cmd_send.shoot_rate = 18;
+    if(referee_data->GameRobotState.robot_level >= 5)
+        shoot_cmd_send.shoot_rate = 25;
+}
+
 static void update_ui_data() {
     ui_data.chassis_mode = chassis_cmd_send.chassis_mode;
     //ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode;
@@ -270,7 +280,7 @@ static void RemoteControlSet() {
 //    }
 
     // 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频,
-    shoot_cmd_send.shoot_rate = 18;// 小 18
+    shoot_cmd_send.shoot_rate = 18;
 
     if(shoot_fetch_data.stalled_flag ==1)
       shoot_cmd_send.loader_mode = LOAD_REVERSE;
@@ -286,8 +296,8 @@ static void hand_aim_mode() {
  *
  */
 static void MouseKeySet() {
-    chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 3000 - rc_data[TEMP].key[KEY_PRESS].s * 3000; // 系数待测
-    chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 3000 - rc_data[TEMP].key[KEY_PRESS].d * 3000;
+    chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 10000 - rc_data[TEMP].key[KEY_PRESS].s * 10000; // 系数待测
+    chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 10000 - rc_data[TEMP].key[KEY_PRESS].d * 10000;
 
     gimbal_cmd_send.yaw -= (float) rc_data[TEMP].mouse.x / 660 * 4; // 系数待测
     gimbal_cmd_send.pitch += (float) rc_data[TEMP].mouse.y / 660 * 6;
@@ -368,17 +378,17 @@ static void MouseKeySet() {
             shoot_cmd_send.lid_mode = LID_OPEN;
             break;
     }
-//    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
-//    {
-//        case 0:
-//            chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
-//            gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
-//            break;
-//        default:
-//            chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
-//            gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
-//            break;
-//    }
+    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
+    {
+        case 0:
+            chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
+            gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
+            break;
+        default:
+            chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
+            gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
+            break;
+    }
     switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
     {
         case 0:
@@ -388,25 +398,6 @@ static void MouseKeySet() {
             shoot_cmd_send.heat_mode = HEAT_CLOSE;
             break;
     }
-    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向
-    {
-        case 0:
-            switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
-            {
-                case 0:
-                    chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
-                    gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
-                    break;
-                default:
-                    chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
-                    gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
-                    break;
-            }
-            break;
-        case 1:
-            chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS;
-            break;
-    }
 //    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
 //    {
 //        case 0:
@@ -425,11 +416,12 @@ static void MouseKeySet() {
             chassis_cmd_send.buffer_supercap = 5;
             break;
         case 1:
-            chassis_cmd_send.buffer_supercap = 195;
+            chassis_cmd_send.buffer_supercap = 200;
+            chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000;
             break;
     }
 
-    shoot_cmd_send.shoot_rate = 25;
+    shoot_rate_improve();
 
     if(shoot_fetch_data.stalled_flag ==1)
         shoot_cmd_send.loader_mode = LOAD_REVERSE;
@@ -443,8 +435,8 @@ static void MouseKeySet() {
  */
 static void VTMouseKeySet()
 {
-    chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 6000 - vt_data[TEMP].key[KEY_PRESS].s * 6000; // 系数待测 小 3000 3000
-    chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 3000 - vt_data[TEMP].key[KEY_PRESS].d * 3000;
+    chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 10000 - vt_data[TEMP].key[KEY_PRESS].s * 10000; // 系数待测 小 3000 3000
+    chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 10000 - vt_data[TEMP].key[KEY_PRESS].d * 10000;
 
     gimbal_cmd_send.yaw -= (float) vt_data[TEMP].mouse.x / 660 * 4; // 系数待测
     gimbal_cmd_send.pitch += (float) vt_data[TEMP].mouse.y / 660 * 6;
@@ -521,34 +513,15 @@ static void VTMouseKeySet()
             shoot_cmd_send.lid_mode = LID_OPEN;
             break;
     }
-//    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
-//    {
-//        case 0:
-//            chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
-//            gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
-//            break;
-//        default:
-//            chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
-//            gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
-//            break;
-//    }
-    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向
+    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
     {
         case 0:
-            switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
-            {
-                case 0:
-                    chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
-                    gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
-                    break;
-                default:
-                    chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
-                    gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
-                    break;
-            }
+            chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
+            gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
             break;
-        case 1:
-            chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS;
+        default:
+            chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
+            gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
             break;
     }
     switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
@@ -578,11 +551,12 @@ static void VTMouseKeySet()
             chassis_cmd_send.buffer_supercap = 5;
             break;
         case 1:
-            chassis_cmd_send.buffer_supercap = 195;
+            chassis_cmd_send.buffer_supercap = 200;
+            chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000;
             break;
     }
 
-    shoot_cmd_send.shoot_rate = 25;
+    shoot_rate_improve();
 
     if(shoot_fetch_data.stalled_flag ==1)
         shoot_cmd_send.loader_mode = LOAD_REVERSE;
@@ -614,6 +588,7 @@ static void EmergencyHandler() {
     if (switch_is_up(rc_data[TEMP].rc.switch_right)) {
         robot_state = ROBOT_READY;
         shoot_cmd_send.shoot_mode = SHOOT_ON;
+        gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
         LOGINFO("[CMD] reinstate, robot ready");
     }
 }
@@ -632,18 +607,19 @@ void RobotCMDTask() {
     update_ui_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static私有变量完成
     CalcOffsetAngle();
-    // 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
-    if (switch_is_down(rc_data[TEMP].rc.switch_left) ||
-        switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],[中],遥控器控制
-        RemoteControlSet();
-    else if (switch_is_up(rc_data[TEMP].rc.switch_left) &&
-        switch_is_mid(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制,遥控器右侧开关状态为[中],遥控器通道
-        MouseKeySet();
-    else if (switch_is_up(rc_data[TEMP].rc.switch_left) &&
-        switch_is_up(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制，遥控器右侧开关状态为[上],图传链路通道
-        VTMouseKeySet();
-
     EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
+    if (robot_state != ROBOT_STOP ){
+        // 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
+        if (switch_is_down(rc_data[TEMP].rc.switch_left) ||
+            switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],[中],遥控器控制
+            RemoteControlSet();
+        else if (switch_is_up(rc_data[TEMP].rc.switch_left) &&
+                 switch_is_mid(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制,遥控器右侧开关状态为[中],遥控器通道
+            MouseKeySet();
+        else if (switch_is_up(rc_data[TEMP].rc.switch_left) &&
+                 switch_is_up(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制，遥控器右侧开关状态为[上],图传链路通道
+            VTMouseKeySet();
+    }
 
     // 设置视觉发送数据,还需增加加速度和角速度数据
     VisionSetFlag(!referee_data->referee_id.Robot_Color);
@@ -657,6 +633,17 @@ void RobotCMDTask() {
     shoot_cmd_send.heat_limit = referee_data->GameRobotState.shooter_barrel_heat_limit;
     shoot_cmd_send.heat_cool = referee_data->GameRobotState.shooter_barrel_cooling_value;
 
+    if(referee_data->GameRobotState.power_management_chassis_output == 0){
+        chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
+    }
+    if(referee_data->GameRobotState.power_management_gimbal_output == 0){
+        gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
+    }
+    if (referee_data->GameRobotState.power_management_shooter_output == 0){
+        shoot_cmd_send.shoot_mode = SHOOT_OFF;
+    }
+
+    death_check();
     // 推送消息,双板通信,视觉通信等
     // 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
 #ifdef ONE_BOARD
@@ -667,5 +654,5 @@ void RobotCMDTask() {
 #endif // GIMBAL_BOARD
     PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send);
     PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send);
-    VisionSend(&vision_send_data);
+
 }
diff --git a/application/robot_def.h b/application/robot_def.h
index 2d256f1..248e09d 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 2053 // 小 1443 大2053 // 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_CHASSIS_ALIGN_ECD 1393 // 小 1443 大2053 // 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 // 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 4422    // 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 25           // 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)
@@ -162,6 +162,7 @@ typedef struct
     uint16_t chassis_power_limit;
     uint16_t buffer_energy;
     uint16_t buffer_supercap;
+    uint8_t chassic_flag;
     // UI部分
     //  ...
 
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index 4ce1834..c133f2b 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -254,8 +254,8 @@ void ShootTask()
 //                DJIMotorSetRef(friction_r, 0);
 //                break;
         //default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
-        DJIMotorSetRef(friction_l, 39000);
-        DJIMotorSetRef(friction_r, 39000);
+        DJIMotorSetRef(friction_l, 40000);
+        DJIMotorSetRef(friction_r, 40000);
 //                break;
 //        }
     }
@@ -268,7 +268,7 @@ void ShootTask()
     // 开关弹舱盖
     if (shoot_cmd_recv.lid_mode == LID_CLOSE)
     {
-        Servo_Motor_FreeAngle_Set(lid,107);
+        Servo_Motor_FreeAngle_Set(lid,107);// 小107 大115
     }
     else if (shoot_cmd_recv.lid_mode == LID_OPEN)
     {
@@ -278,7 +278,7 @@ void ShootTask()
     // 开关热控
     if(shoot_cmd_recv.heat_mode == HEAT_OPEN)
     {
-        if(shoot_cmd_recv.heat>=(0.9*shoot_cmd_recv.heat_limit))
+        if(shoot_cmd_recv.heat>=(0.75*shoot_cmd_recv.heat_limit))
         {
             DJIMotorStop(loader);
         }
diff --git a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/chassis/chassis.c.obj b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/chassis/chassis.c.obj
index f29f408..edcf1b3 100644
Binary files a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/chassis/chassis.c.obj and b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/chassis/chassis.c.obj differ
diff --git a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/cmd/robot_cmd.c.obj b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/cmd/robot_cmd.c.obj
index a88977b..1a2ba12 100644
Binary files a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/cmd/robot_cmd.c.obj and b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/cmd/robot_cmd.c.obj differ
diff --git a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/gimbal/gimbal.c.obj b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/gimbal/gimbal.c.obj
index 6d8690a..abf048d 100644
Binary files a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/gimbal/gimbal.c.obj and b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/gimbal/gimbal.c.obj differ
diff --git a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/shoot/shoot.c.obj b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/shoot/shoot.c.obj
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diff --git a/cmake-build-debug/basic_framework.map b/cmake-build-debug/basic_framework.map
index aa31961..23250de 100644
--- a/cmake-build-debug/basic_framework.map
+++ b/cmake-build-debug/basic_framework.map
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+ .debug_frame   0x000093bc       0x34 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-fini.o)
+ .debug_frame   0x000093f0       0x8c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-freer.o)
+ .debug_frame   0x0000947c       0x40 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-localeconv.o)
+ .debug_frame   0x000094bc       0xb0 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-lock.o)
+ .debug_frame   0x0000956c      0x280 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-mprec.o)
+ .debug_frame   0x000097ec       0x64 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-reent.o)
+ .debug_frame   0x00009850       0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-s_frexp.o)
+ .debug_frame   0x0000987c       0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-strncpy.o)
+ .debug_frame   0x000098a8       0x88 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-svfiprintf.o)
+ .debug_frame   0x00009930       0x34 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-__atexit.o)
+ .debug_frame   0x00009964       0x40 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-assert.o)
+ .debug_frame   0x000099a4       0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-callocr.o)
+ .debug_frame   0x000099d0       0x70 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-fiprintf.o)
+ .debug_frame   0x00009a40       0x68 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-locale.o)
+ .debug_frame   0x00009aa8       0x4c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-mbtowc_r.o)
+ .debug_frame   0x00009af4       0x40 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-memmove.o)
+ .debug_frame   0x00009b34       0x48 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-reallocr.o)
+ .debug_frame   0x00009b7c       0xf4 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-vfiprintf.o)
+ .debug_frame   0x00009c70       0x3c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-wctomb_r.o)
+ .debug_frame   0x00009cac       0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-wsetup.o)
+ .debug_frame   0x00009cd8       0x28 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-abort.o)
+ .debug_frame   0x00009d00       0x70 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-fflush.o)
+ .debug_frame   0x00009d70      0x154 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-findfp.o)
+ .debug_frame   0x00009ec4       0x8c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-fputwc.o)
+ .debug_frame   0x00009f50       0x64 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-fvwrite.o)
+ .debug_frame   0x00009fb4       0x54 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-fwalk.o)
+ .debug_frame   0x0000a008       0x70 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-makebuf.o)
+ .debug_frame   0x0000a078      0x114 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-signal.o)
+ .debug_frame   0x0000a18c       0x3c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-signalr.o)
+ .debug_frame   0x0000a1c8       0x8c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-stdio.o)
+ .debug_frame   0x0000a254       0x4c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-wbuf.o)
+ .debug_frame   0x0000a2a0       0x60 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-wcrtomb.o)
+ .debug_frame   0x0000a300       0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-writer.o)
+ .debug_frame   0x0000a32c       0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-closer.o)
+ .debug_frame   0x0000a358       0x3c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-fclose.o)
+ .debug_frame   0x0000a394       0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-fstatr.o)
+ .debug_frame   0x0000a3c0       0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-isattyr.o)
+ .debug_frame   0x0000a3ec       0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-lseekr.o)
+ .debug_frame   0x0000a418       0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-readr.o)
+ .debug_frame   0x0000a444       0x20 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+fp/hard\libgcc.a(_arm_unorddf2.o)
diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c
index e5b9120..011f620 100644
--- a/modules/imu/ins_task.c
+++ b/modules/imu/ins_task.c
@@ -162,7 +162,7 @@ void INS_Task(void) {
         INS.YawTotalAngle = QEKF_INS.YawTotalAngle;
 
         //VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll);
-        VisionSetAltitude(INS.Yaw * PI / 180, -INS.Roll * PI / 180);
+        VisionSetAltitude(INS.Yaw * PI / 180, -INS.Roll * PI / 180);// 小-INS.Roll 大INS.Roll
     }
 
     // temperature control
diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c
index 306fdc1..a3ab78f 100644
--- a/modules/referee/referee_task.c
+++ b/modules/referee/referee_task.c
@@ -97,8 +97,6 @@ void MyUIInit()
     UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);
     UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 600, "Q.heat:");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
-    UICharDraw(&UI_State_sta[6], "ss6", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 800, "C.ce:");
-    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[6]);
 //    UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 800, "load:");
 //    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
 
@@ -107,10 +105,11 @@ void MyUIInit()
     UICharRefresh(&referee_recv_info->referee_id, UI_prompt_sta[0]);
     UICharDraw(&UI_prompt_sta[1], "ss9", UI_Graph_ADD, 8,UI_Color_Pink, 30, 4, 1650, 800, "zhi hui");
     UICharRefresh(&referee_recv_info->referee_id, UI_prompt_sta[1]);
-
+    UICharDraw(&UI_prompt_sta[2], "ss10", UI_Graph_ADD, 8,UI_Color_Pink, 30, 4, 1650, 600, "bie ji");
+    UICharRefresh(&referee_recv_info->referee_id, UI_prompt_sta[2]);
     // 底盘功率显示，静态
-    UICharDraw(&UI_State_sta[6], "ss6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "MAX:");
-    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[6]);
+//    UICharDraw(&UI_State_sta[6], "ss6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "MAX:");
+//    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[6]);
 
     // 绘制车辆状态标志，动态
     // 由于初始化时xxx_last_mode默认为0，所以此处对应UI也应该设为0时对应的UI，防止模式不变的情况下无法置位flag，导致UI无法刷新
@@ -124,10 +123,8 @@ void MyUIInit()
     UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
     UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 650, "off");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
-    UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 600, "on");
+    UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 600, "on ");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
-    UICharDraw(&UI_State_dyn[6], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 800, "off");
-    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[6]);
 //    UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 800, "999");
 //    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
 
@@ -167,7 +164,7 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
                  UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "on ");
                  break;
             case CHASSIS_SIDEWAYS:
-                UICharDraw(&UI_State_dyn[6], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 800, _Interactive_data->chassis_mode == CHASSIS_SIDEWAYS ? "on " : "off");
+                UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
                 break;
             case CHASSIS_NO_FOLLOW:
                 UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
diff --git a/xs.jdebug b/xs.jdebug
index 3f84cd6..9c4e115 100644
--- a/xs.jdebug
+++ b/xs.jdebug
@@ -4,8 +4,8 @@
 *                         www.segger.com                             *
 **********************************************************************
 
-File          : D:/zhandui/cqdm/basic_framework/xs.jdebug
-Created       : 20 Mar 2024 21:43
+File          : D:/zhandui/cqdm/xiaojing/xs.jdebug
+Created       : 18 May 2024 01:04
 Ozone Version : V3.32a
 */
 
@@ -22,19 +22,17 @@ void OnProjectLoad (void) {
   //
   // Dialog-generated settings
   //
+  Project.AddPathSubstitute ("D:/zhandui/cqdm/xiaojing", "$(ProjectDir)");
+  Project.AddPathSubstitute ("d:/zhandui/cqdm/xiaojing", "$(ProjectDir)");
   Project.SetDevice ("STM32F407IG");
   Project.SetHostIF ("USB", "17935099");
   Project.SetTargetIF ("SWD");
   Project.SetTIFSpeed ("4 MHz");
-  Project.AddPathSubstitute ("D:/zhandui/cqdm/basic_framework", "$(ProjectDir)");
-  Project.AddPathSubstitute ("d:/zhandui/cqdm/basic_framework", "$(ProjectDir)");
   Project.AddSvdFile ("$(InstallDir)/Config/CPU/Cortex-M4F.svd");
   Project.AddSvdFile ("D:/Ozone/Ozone/Config/Peripherals/STM32F407IG.svd");
   //
   // User settings
   //
-  Edit.SysVar (VAR_HSS_SPEED, FREQ_200_HZ);
-  Project.SetOSPlugin ("FreeRTOSPlugin_CM4");
   File.Open ("$(ProjectDir)/cmake-build-debug/basic_framework.elf");
 }
 
diff --git a/xs.jdebug.user b/xs.jdebug.user
index 0c43402..eb4eb79 100644
--- a/xs.jdebug.user
+++ b/xs.jdebug.user
@@ -1,43 +1,25 @@
 
 
-GraphedExpression="P_max", Color=#e56a6f, Show=0
-OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/xiaojing/application/chassis/chassis.c", Line=243
-OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/xiaojing/application/cmd/robot_cmd.c", Line=396
+OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/xiaojing/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3418
+OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/xiaojing/application/gimbal/gimbal.c", Line=0
+OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/xiaojing/application/chassis/chassis.c", Line=21
 OpenDocument="main.c", FilePath="D:/zhandui/cqdm/xiaojing/Src/main.c", Line=65
 OpenToolbar="Debug", Floating=0, x=0, y=0
-OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=499, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=435, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C
-OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=735, h=537, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=581, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1023, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1123, h=1037, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;822", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="896;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="912;0"
-OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=518, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=496, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=438, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C
+OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=735, h=540, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=817, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1029, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
+OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1127, h=1037, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="900;-69", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="900;-69", CodeGraphLegendShown=1, CodeGraphLegendPosition="851;0"
+OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=273, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
 TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;950]
-TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" P_max"], ColWidths=[100;100;100]
-TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;154;164;100;110;126;126]
+TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
+TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;100;100;100;110;126;126]
 TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
-TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
 TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;149;104;244]
 TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
+TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;26]
+WatchedExpression="wz_flag", RefreshRate=2, Window=Watched Data 1
 WatchedExpression="yaw_motor", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="pitch_motor", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="motor_rf", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="motor_lf", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="motor_lb", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="motor_rb", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="referee_data", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="chassis_cmd_recv", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="vx_filter", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="shoot.c::shoot_cmd_recv", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="shoot_cmd_recv", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="gimba_IMU_data", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="vt_data", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="ui_data", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="Interactive_data", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="chassis_cmd_send", Window=Watched Data 1
-WatchedExpression="P_max", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1
\ No newline at end of file
+WatchedExpression="gimba_IMU_data", RefreshRate=2, Window=Watched Data 1
\ No newline at end of file