diff --git a/app/by_frame.c b/app/by_frame.c
index 70baa6f..1fb8160 100644
--- a/app/by_frame.c
+++ b/app/by_frame.c
@@ -49,7 +49,7 @@ void by_frame_parse(uint8_t data_num, uint32_t *data_array)
     uint16_t crc_cal             = 0;
     uint32_t read_length         = 50;
 
-    if (fifo_used(&frame_fifo)) {
+    if (fifo_used(&frame_fifo) >= 4 + 4 * data_num) {
         fifo_read_buffer(&frame_fifo, frame_buffer_parse, &read_length, FIFO_READ_AND_CLEAN);
         while (1) {
             if (cnt_ptr < 50) {
diff --git a/app/jj_motion.c b/app/jj_motion.c
index f752022..28d0a69 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -39,7 +39,7 @@ float out_speed;
 float set_speed = 0.0f;
 
 int cnt1 = 0;
-
+int cnt2 = 0;
 float sport_get_speed(void)
 {
 #define ALPHA (0.97f)
@@ -60,6 +60,7 @@ void sport_motion(void)
 {
 
     cnt1++;
+    cnt2++;
     imu660ra_get_gyro();
     in_gyro = imu660ra_gyro_z; // 陀螺仪输入
     // in_angle = 0;                                                     // 图像远端输入
@@ -68,20 +69,33 @@ void sport_motion(void)
     PID_Compute(&far_gyro_pid);
 
     if (cnt1 >= 10) {
-        PID_Compute(&far_angle_pid);
+
         PID_Compute(&speed_pid);
         in_speed = -sport_get_speed();
         // printf("rate:%d\r\n", (int16_t)in_speed);
         PID_Compute(&near_pos_pid);
+        PID_Compute(&near_pos_pid);
         cnt1 = 0;
     }
-
+    if (cnt2 >= 20) {
+        cnt2 = 0;
+        PID_Compute(&far_angle_pid);
+    }
     if (bt_run_flag == 1) {
-        // by_pwm_power_duty((int32_t)(500 + out_pos + out_gyro),
-        //                   (int32_t)(500 - out_pos - out_gyro),
-        //                   (int32_t)(500 + out_speed + out_gyro),
-        //                   (int32_t)(500 + out_speed - out_gyro));
-        by_pwm_power_duty(500, 500, 500 + out_speed, 500 + out_speed);
+        if (out_gyro > 0) {
+            by_pwm_power_duty((int32_t)(500 - 1 * out_pos + 0 * out_gyro),
+                              (int32_t)(500 + 1 * out_pos - 0 * out_gyro),
+                              (int32_t)(500 + out_speed + out_gyro),
+                              (int32_t)(500 + out_speed - out_gyro));
+
+        } else if (out_gyro <= 0) {
+            by_pwm_power_duty((int32_t)(500 - 1 * out_pos + 0 * out_gyro),
+                              (int32_t)(500 + 1 * out_pos - 0 * out_gyro),
+                              (int32_t)(500 + out_speed + out_gyro),
+                              (int32_t)(500 + out_speed - out_gyro));
+        }
+
+        // by_pwm_power_duty(500+out_gyro, 500-out_gyro, 500+out_gyro , 500-out_gyro);
     } else {
         by_pwm_power_duty(500, 500, 500, 500);
     }
@@ -99,7 +113,7 @@ void sport_motion(void)
 void sport_pid_init()
 {
 
-    PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, 0, 1);
+    PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, 1, 1);
     PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, 1, 1);
     PID_Init(&far_angle_pid);
     PID_Init(&far_gyro_pid);
@@ -110,13 +124,13 @@ void sport_pid_init()
     PID_SetMode(&far_gyro_pid, 1);
     PID_SetMode(&far_angle_pid, 1);
 
-    PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, 0, 0);
+    PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, 1, 0);
     PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, 1, 0);
     PID_Init(&near_pos_pid);
     PID_Init(&speed_pid);
 
     PID_SetOutputLimits(&near_pos_pid, -500.0f, 500.0f);
-    PID_SetOutputLimits(&speed_pid, -400.0f, 400.0f);
+    PID_SetOutputLimits(&speed_pid, 0.0f, 400.0f);
 
     PID_SetMode(&near_pos_pid, 1);
     PID_SetMode(&speed_pid, 1);
diff --git a/app/jj_param.c b/app/jj_param.c
index 4d96041..6f4e0f3 100644
--- a/app/jj_param.c
+++ b/app/jj_param.c
@@ -21,9 +21,9 @@ void jj_param_eeprom_init(void)
     PARAM_REG(angle_Ki, &an_Ki, EFLOAT, 1, "an_I:"); // 注冊
     PARAM_REG(angle_Kd, &an_Kd, EFLOAT, 1, "an_D:");
 
-    PARAM_REG(gyro_Kp, &gy_Kp, EFLOAT, 1, "im_P:"); // 注冊
-    PARAM_REG(gyro_Ki, &gy_Ki, EFLOAT, 1, "im_I:"); // 注冊
-    PARAM_REG(gyro_Kd, &gy_Kd, EFLOAT, 1, "im_D:");
+    PARAM_REG(gyro_Kp, &gy_Kp, EFLOAT, 1, "gy_P:"); // 注冊
+    PARAM_REG(gyro_Ki, &gy_Ki, EFLOAT, 1, "gy_I:"); // 注冊
+    PARAM_REG(gyro_Kd, &gy_Kd, EFLOAT, 1, "gy_D:");
 
     PARAM_REG(speed_Kp, &sp_Kp, EFLOAT, 1, "sp_P:"); // 注冊
     PARAM_REG(speed_Ki, &sp_Ki, EFLOAT, 1, "sp_I:"); // 注冊