diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index 313afa2..54cbc3c 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -22,6 +22,7 @@
 #include "bsp_dwt.h"
 #include "referee_UI.h"
 #include "arm_math.h"
+#include "user_lib.h"
 
 #include "vofa.h"
 
@@ -43,9 +44,11 @@ attitude_t *Chassis_IMU_data;
 static Publisher_t *chassis_pub;                    // 用于发布底盘的数据
 static Subscriber_t *chassis_sub;                   // 用于订阅底盘的控制命令
 #endif                                              // !ONE_BOARD
-static Chassis_Ctrl_Cmd_s chassis_cmd_recv ;         // 底盘接收到的控制命令
+static Chassis_Ctrl_Cmd_s chassis_cmd_recv;         // 底盘接收到的控制命令
 static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
 static Chassis_Ctrl_Cmd_s Chassis_Power_Mx;
+const static float CHASSIS_ACCEL_X_NUM=0.1666666667f;
+const static float CHASSIS_ACCEL_Y_NUM=0.3333333333f;
 
 
 
@@ -58,6 +61,8 @@ static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left righ
 /* 私有函数计算的中介变量,设为静态避免参数传递的开销 */
 static float chassis_vx, chassis_vy;     // 将云台系的速度投影到底盘
 static float vt_lf, vt_rf, vt_lb, vt_rb; // 底盘速度解算后的临时输出,待进行限幅
+first_order_filter_type_t vx_filter;
+first_order_filter_type_t vy_filter;
 
 void ChassisInit() {
     // 四个轮子的参数一样,改tx_id和反转标志位即可
@@ -117,6 +122,9 @@ void ChassisInit() {
             }};
     cap = SuperCapInit(&cap_conf); // 超级电容初始化
 
+    //用一阶滤波代替斜波函数生成
+    first_order_filter_init(&vx_filter, 0.002f, &CHASSIS_ACCEL_X_NUM);
+    first_order_filter_init(&vx_filter, 0.002f, &CHASSIS_ACCEL_Y_NUM);
    // PowerMeter_Init_Config_s
 
     // 发布订阅初始化,如果为双板,则需要can comm来传递消息
@@ -270,7 +278,9 @@ void ChassisTask() {
 
     chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;
     chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta;
-
+    //一阶低通滤波计算
+    first_order_filter_cali(&vx_filter, chassis_vx);
+    first_order_filter_cali(&vy_filter, chassis_vy);
     // 根据控制模式进行正运动学解算,计算底盘输出
     //MecanumCalculate();
     OmniCalculate();
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 463f60f..3763791 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -119,8 +119,7 @@ static void CalcOffsetAngle() {
  * @brief 控制输入为遥控器(调试时)的模式和控制量设置
  *
  */
-static void update_ui_data()
-{
+static void update_ui_data() {
     ui_data.chassis_mode = chassis_cmd_send.chassis_mode;
     ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode;
     ui_data.friction_mode = shoot_cmd_send.friction_mode;
@@ -129,6 +128,51 @@ static void update_ui_data()
     ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit;
 }
 
+static void auto_aim_mode() {
+    trajectory_cal.v0 = 25; //弹速30
+    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);
+
+        VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]);
+
+        float single_angle_yaw_now = gimbal_fetch_data.gimbal_imu_data.Yaw;
+        float diff_yaw = trajectory_cal.cmd_yaw * 180 / PI - single_angle_yaw_now;
+        float yaw_err = diff_yaw;
+
+        if(diff_yaw>180)
+            diff_yaw -= 360;
+        else if(diff_yaw<-180)
+            diff_yaw += 360;
+
+        gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle + diff_yaw;
+
+        gimbal_cmd_send.pitch = -trajectory_cal.cmd_pitch * 180 / PI;
+
+        if (yaw_err <= 3) //3度
+        {
+            aim_select.suggest_fire = 1;
+        }
+        else
+            aim_select.suggest_fire = 0;
+    }
+}
+
 static void RemoteControlSet() {
     // 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
     if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺
@@ -167,38 +211,7 @@ static void RemoteControlSet() {
     }
     // 左侧开关状态为[下],视觉模式
     if (switch_is_down(rc_data[TEMP].rc.switch_left)) {
-        trajectory_cal.v0 = 25; //弹速30
-        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);
-
-            VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]);
-
-            gimbal_cmd_send.yaw =  truncf(gimbal_fetch_data.gimbal_imu_data.YawTotalAngle / 360) + trajectory_cal.cmd_yaw * 180 / PI;
-
-            gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
-
-            float yaw_err = fabsf(gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.Yaw);
-            if (yaw_err <= 5) //3度
-                aim_select.suggest_fire = 1;
-            else
-                aim_select.suggest_fire = 0;
-        }
+        auto_aim_mode();
     }
     // 云台软件限位
 
@@ -244,41 +257,6 @@ static void hand_aim_mode() {
 
 }
 
-static void auto_aim_mode() {
-    trajectory_cal.v0 = 25; //弹速30
-    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);
-
-        VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]);
-
-        gimbal_cmd_send.yaw =  truncf(gimbal_fetch_data.gimbal_imu_data.YawTotalAngle / 360) + trajectory_cal.cmd_yaw * 180 / PI;
-
-        gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
-
-        float yaw_err = fabsf(gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.Yaw);
-        if (yaw_err <= 5) //3度
-            aim_select.suggest_fire = 1;
-        else
-            aim_select.suggest_fire = 0;
-    }
-}
-
 /**
  * @brief 输入为键鼠时模式和控制量设置
  *
@@ -310,10 +288,7 @@ static void MouseKeySet() {
              vision_recv_data->vz == 0))
         {
             shoot_cmd_send.load_mode = LOAD_STOP;
-        }
-
-
-        else {
+        } else {
             auto_aim_mode();
             if (aim_select.suggest_fire == 1 && rc_data[TEMP].mouse.press_l &&
                 shoot_cmd_send.friction_mode == FRICTION_ON) {
@@ -432,7 +407,7 @@ void RobotCMDTask() {
     EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
 
     // 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);
+    VisionSetFlag(!referee_data->referee_id.Robot_Color);
 
     //根据裁判系统反馈确定底盘功率上限
     chassis_cmd_send.chassis_power_limit = referee_data->GameRobotState.chassis_power_limit;
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+ .debug_frame   0x00008ff4       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/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-strnlen.o)
+ .debug_frame   0x00009014       0x7c 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-svfprintf.o)
+ .debug_frame   0x00009090       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-utoa.o)
+ .debug_frame   0x000090dc       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-vsprintf.o)
+ .debug_frame   0x00009130       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-__call_atexit.o)
+ .debug_frame   0x00009198       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/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-atexit.o)
+ .debug_frame   0x000091b8       0xdc 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-dtoa.o)
+ .debug_frame   0x00009294       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   0x000092c8       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   0x00009354       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   0x00009394       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   0x00009444      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   0x000096c4       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   0x00009728       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   0x00009754       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   0x00009780       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   0x00009808       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   0x0000983c       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   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-callocr.o)
+ .debug_frame   0x000098a8       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   0x00009918       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   0x00009980       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   0x000099cc       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   0x00009a0c       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   0x00009a54       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   0x00009b48       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   0x00009b84       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   0x00009bb0       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   0x00009bd8       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   0x00009c48      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   0x00009d9c       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   0x00009e28       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   0x00009e8c       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   0x00009ee0       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   0x00009f50      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   0x0000a064       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   0x0000a0a0       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   0x0000a12c       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   0x0000a178       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   0x0000a1d8       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   0x0000a204       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   0x0000a230       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   0x0000a26c       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   0x0000a298       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   0x0000a2c4       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   0x0000a2f0       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   0x0000a31c       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/algorithm/user_lib.c b/modules/algorithm/user_lib.c
index 5029109..75d0dd5 100644
--- a/modules/algorithm/user_lib.c
+++ b/modules/algorithm/user_lib.c
@@ -212,3 +212,33 @@ void MatInit(mat *m, uint8_t row, uint8_t col)
     m->numRows = row;
     m->pData = (float *)zmalloc(row * col * sizeof(float));
 }
+
+/**
+  * @brief          一阶低通滤波初始化
+  * @author         RM
+  * @param[in]      一阶低通滤波结构体
+  * @param[in]      间隔的时间，单位 s
+  * @param[in]      滤波参数
+  * @retval         返回空
+  */
+void first_order_filter_init(first_order_filter_type_t *first_order_filter_type, float frame_period, const float num[1])
+{
+    first_order_filter_type->frame_period = frame_period;
+    first_order_filter_type->num[0] = num[0];
+    first_order_filter_type->input = 0.0f;
+    first_order_filter_type->out = 0.0f;
+}
+
+/**
+  * @brief          一阶低通滤波计算
+  * @author         RM
+  * @param[in]      一阶低通滤波结构体
+  * @param[in]      间隔的时间，单位 s
+  * @retval         返回空
+  */
+void first_order_filter_cali(first_order_filter_type_t *first_order_filter_type, float input)
+{
+    first_order_filter_type->input = input;
+    first_order_filter_type->out =
+            first_order_filter_type->num[0] / (first_order_filter_type->num[0] + first_order_filter_type->frame_period) * first_order_filter_type->out + first_order_filter_type->frame_period / (first_order_filter_type->num[0] + first_order_filter_type->frame_period) * first_order_filter_type->input;
+}
diff --git a/modules/algorithm/user_lib.h b/modules/algorithm/user_lib.h
index 9a15097..93b8d08 100644
--- a/modules/algorithm/user_lib.h
+++ b/modules/algorithm/user_lib.h
@@ -53,6 +53,13 @@ void MatInit(mat *m, uint8_t row, uint8_t col);
 #ifndef PI
 #define PI 3.14159265354f
 #endif
+typedef __packed struct
+{
+    float input;        //输入数据
+    float out;          //滤波输出的数据
+    float num[1];       //滤波参数
+    float frame_period; //滤波的时间间隔 单位 s
+} first_order_filter_type_t;
 
 #define VAL_LIMIT(val, min, max) \
     do                           \
@@ -120,6 +127,10 @@ void Cross3d(float *v1, float *v2, float *res);
 float Dot3d(float *v1, float *v2);
 
 float AverageFilter(float new_data, float *buf, uint8_t len);
+//一阶低通滤波初始化
+void first_order_filter_init(first_order_filter_type_t *first_order_filter_type, float frame_period, const float num[1]);
+//一阶低通滤波计算
+void first_order_filter_cali(first_order_filter_type_t *first_order_filter_type, float input);
 
 #define rad_format(Ang) loop_float_constrain((Ang), -PI, PI)
 
diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c
index 9b6ea8a..e5b9120 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);
     }
 
     // temperature control
diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c
index 59715e8..b4fe676 100644
--- a/modules/referee/referee_task.c
+++ b/modules/referee/referee_task.c
@@ -103,7 +103,6 @@ void MyUIInit()
     UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
 
-
     // 底盘功率显示，静态
     UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "Power_MAX:");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
diff --git a/xs.jdebug b/xs.jdebug
index 4094851..359ad35 100644
--- a/xs.jdebug
+++ b/xs.jdebug
@@ -33,6 +33,7 @@ void OnProjectLoad (void) {
   //
   // User settings
   //
+  Project.SetOSPlugin ("FreeRTOSPlugin_CM4");
   Edit.SysVar (VAR_HSS_SPEED, FREQ_500_HZ);
   File.Open ("$(ProjectDir)/cmake-build-debug/basic_framework.elf");
 }
diff --git a/xs.jdebug.user b/xs.jdebug.user
index 18ab128..ddc9139 100644
--- a/xs.jdebug.user
+++ b/xs.jdebug.user
@@ -1,32 +1,38 @@
 
 
-OpenDocument="main.c", FilePath="D:/zhandui/cqdm/basic_framework/Src/main.c", Line=64
-OpenDocument="bsp_dwt.c", FilePath="D:/zhandui/cqdm/basic_framework/bsp/dwt/bsp_dwt.c", Line=79
+OpenDocument="xs.jdebug", FilePath="D:/zhandui/cqdm/basic_framework/xs.jdebug", Line=0
+OpenDocument="ins_task.c", FilePath="D:/zhandui/cqdm/basic_framework/modules/imu/ins_task.c", Line=192
+OpenDocument="referee_task.c", FilePath="D:/zhandui/cqdm/basic_framework/modules/referee/referee_task.c", Line=75
+OpenDocument="main.c", FilePath="D:/zhandui/cqdm/basic_framework/Src/main.c", Line=63
+OpenDocument="bsp_dwt.c", FilePath="D:/zhandui/cqdm/basic_framework/bsp/dwt/bsp_dwt.c", Line=75
 OpenDocument="startup_stm32f407ighx.s", FilePath="D:/zhandui/cqdm/basic_framework/Startup/startup_stm32f407ighx.s", Line=46
 OpenDocument="stm32f4xx_it.c", FilePath="D:/zhandui/cqdm/basic_framework/Src/stm32f4xx_it.c", Line=102
 OpenDocument="controller.c", FilePath="D:/zhandui/cqdm/basic_framework/modules/algorithm/controller.c", Line=133
 OpenDocument="controller.h", FilePath="D:/zhandui/cqdm/basic_framework/modules/algorithm/controller.h", Line=42
 OpenDocument="SEGGER_RTT.c", FilePath="D:/zhandui/cqdm/basic_framework/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT.c", Line=1181
 OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/basic_framework/application/gimbal/gimbal.c", Line=105
-OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/basic_framework/application/chassis/chassis.c", Line=51
+OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/basic_framework/application/chassis/chassis.c", Line=180
 OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/basic_framework/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3394
 OpenToolbar="Debug", Floating=0, x=0, y=0
-OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=651, h=534, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=1649, h=158, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=929, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C
-OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=651, h=558, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=645, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=379, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=1649, h=934, 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;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1422;-71", CodeGraphLegendShown=0, CodeGraphLegendPosition="1438;0"
-OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=604, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=651, h=544, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=1045, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C
+OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=651, h=568, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=725, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=426, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
+OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=681, h=328, 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"], 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="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;100;104;183]
+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;100;104;209]
 TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
-TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;685]
+TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;27]
 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
\ No newline at end of file
+WatchedExpression="motor_rf", RefreshRate=2, Window=Watched Data 1
+WatchedExpression="referee_data", RefreshRate=2, Window=Watched Data 1
+WatchedExpression="referee_recv_info", Window=Watched Data 1
+WatchedExpression="chassis_power_limit", Window=Watched Data 1
+WatchedExpression="chassis_cmd_recv", RefreshRate=2, Window=Watched Data 1
\ No newline at end of file