diff --git a/app/by_frame.c b/app/by_frame.c
index a8df95b..cd4db63 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) >= 12) {
+    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) {
@@ -88,8 +88,9 @@ void by_frame_parse(uint8_t data_num, uint32_t *data_array)
             if (!cnt_crc) {
                 if (crc_cal == crc16_check(data_array_temp, 2 + data_num * sizeof(uint32_t))) {
                     memcpy(data_array, data_array_temp + 2, data_num * sizeof(uint32_t));
+                    fifo_clear(&frame_fifo); // TODO 确认是否有必要清除
+                    // lwrb_reset(&lwrb_struct); // 处理完直接清空缓冲区，避免堆积产生处理阻塞
                     memset(data_array_temp, 0, sizeof(data_array_temp));
-                    // printf("parsed done!\r\n");
                     for (uint8_t i = 0; i < data_num; i++) {
                         for (uint8_t j = 0; j < 4; j++) {
                             uart_write_byte(DEBUG_UART_INDEX, data_array[i] >> (j * 8));
diff --git a/app/jj_blueteeth.c b/app/jj_blueteeth.c
index 6b6b44d..0e5f124 100644
--- a/app/jj_blueteeth.c
+++ b/app/jj_blueteeth.c
@@ -6,7 +6,7 @@ uint8 bt_buffer; // 接收字符存入
 uint32_t bt_run_flag = 0;
 uint8_t bt_fly_flag  = 0;
 uint32_t bt_run      = 0;
-uint32_t bt_fly      = 0;
+uint32_t bt_fly      = 500;
 enum bt_order {
     Fly_ctrl   = 0x01, // 起飞转换
     Fly_up     = 0x02, // 起飞程度增加
diff --git a/app/jj_motion.c b/app/jj_motion.c
index e450b0c..479fa35 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
@@ -68,27 +69,40 @@ void sport_motion(void)
     PID_Compute(&far_gyro_pid);
 
     if (cnt1 >= 10) {
-        PID_Compute(&far_angle_pid);
+
         PID_Compute(&speed_pid);
-        // in_speed = -encoder_get_count(TIM5_ENCOEDER); // 速度输入，m/s
-        in_speed = sport_get_speed();
+        in_speed = -sport_get_speed();
         // printf("rate:%d\r\n", (int16_t)in_speed);
         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));
+        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);
     }
     if (bt_fly_flag == 0) {
-        bt_fly = 0;
+        by_pwm_update_duty(0 + 500, 0 + 500);
+    } else {
+        by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
     }
-    by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
 }
 
 /**
@@ -98,7 +112,7 @@ 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);
@@ -109,13 +123,13 @@ 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
diff --git a/app/main.c b/app/main.c
index b05338b..32baee1 100644
--- a/app/main.c
+++ b/app/main.c
@@ -63,18 +63,9 @@ int main(void)
     while (1) {
         Page_Run();
         by_frame_parse(2, &test_data[0].u32);
-        // uart_write_byte(UART_8, 0x1F);
         by_buzzer_run();
         jj_bt_run();
         in_pos   = test_data[1].f32;
         in_angle = test_data[0].f32;
-        ips200_show_float(40, 40, test_data[0].f32, 4, 1);
-        ips200_show_float(40, 60, test_data[1].f32, 4, 1);
-        ips200_show_float(40, 80, in_gyro, 4, 2);
-        ips200_show_float(40, 100, in_speed, 4, 4);
-        ips200_show_string(0, 120, "outang");
-        ips200_show_float(80, 120, out_angle, 4, 1);
-        ips200_show_string(0, 140, "outgyr");
-        ips200_show_float(80, 140, out_gyro, 4, 1);
     }
 }
diff --git a/app/page/page.c b/app/page/page.c
index 031005c..0cc6ab7 100644
--- a/app/page/page.c
+++ b/app/page/page.c
@@ -89,8 +89,8 @@ uint8_t Page_GetStatus(void)
  */
 void Page_Run(void)
 {
-    uint8_t temp_status = by_get_rb_status(); // 轮询旋钮状态 
-    if(temp_status){
+    uint8_t temp_status = by_get_rb_status(); // 轮询旋钮状态
+    if (temp_status) {
         pagelist[now_page].EventCallback(temp_status);
     }
 
@@ -124,12 +124,12 @@ void Page_Run(void)
 void Page_Init(void)
 {
     PAGE_REG(page_menu);
-   // PAGE_REG(page_rtcam);
+    // PAGE_REG(page_rtcam);
     PAGE_REG(page_param);
     // PAGE_REG(page_argv);
     // PAGE_REG(page_sys);
     // PAGE_REG(page_run);
-
+    PAGE_REG(page_dparam);
     Page_Shift(page_menu);
 
     pagelist[now_page].SetupCallback(); // 先构建一遍
diff --git a/app/page/page.h b/app/page/page.h
index 521b003..1791886 100644
--- a/app/page/page.h
+++ b/app/page/page.h
@@ -21,6 +21,7 @@ enum PageID {
     page_menu,
     //page_rtcam,
     page_param,
+    page_dparam,
     // page_argv,
     // page_sys,
     // page_run,
diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c
new file mode 100644
index 0000000..85ed16a
--- /dev/null
+++ b/app/page/page_dparam.c
@@ -0,0 +1,95 @@
+#include "jj_param.h"
+#include "page_ui_widget.h"
+#include "jj_motion.h"
+#include "page.h"
+
+#include <math.h>
+
+#define LINE_HEAD 0
+#define LINE_END  DATA_NUM - 2
+static char Text[]        = "dParam";
+static int8_t Curser      = LINE_HEAD; // 定义光标位置
+static int8_t Curser_Last = LINE_HEAD; // 定义光标位置
+/***************************************************************************************
+ *
+ *                                  以下为页面模板函数
+ *
+ ***************************************************************************************/
+/**
+ * @brief  页面初始化事件
+ * @param  无
+ * @retval 无
+ */
+static void Setup()
+{
+    ips200_clear();
+    Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
+}
+
+/**
+ * @brief  页面退出事件
+ * @param  无
+ * @retval 无
+ */
+static void Exit()
+{
+}
+
+/**
+ * @brief  页面循环执行的内容
+ * @param  无
+ * @retval 无
+ */
+static void Loop()
+{
+    ips200_show_string(0, 40, "far");
+    ips200_show_float(80, 40, in_angle, 4, 1);
+    ips200_show_string(0, 60, "near");
+    ips200_show_float(80, 60, in_pos, 4, 1);
+    ips200_show_string(0, 80, "gyrz");
+    ips200_show_float(80, 80, in_gyro, 4, 2);
+    ips200_show_string(0, 100, "speed");
+    ips200_show_float(80, 100, in_speed, 4, 4);
+    ips200_show_string(0, 120, "outang");
+    ips200_show_float(80, 120, out_angle, 4, 1);
+    ips200_show_string(0, 140, "outgyr");
+    ips200_show_float(80, 140, out_gyro, 4, 1);
+    ips200_show_string(0, 160, "outpos");
+    ips200_show_float(80, 160, out_pos, 4, 1);
+}
+/**
+ * @brief  页面事件
+ * @param  btn:发出事件的按键
+ * @param  event:事件编号
+ * @retval 无
+ */
+static void Event(page_event event)
+{
+
+    Curser_Last = Curser;
+    if (page_event_forward == event) {
+        Curser--; // 光标上移
+    } else if (page_event_backward == event) {
+        Curser++; // 光标下移
+    } else if (page_event_press_short == event) {
+        sport_pid_init();
+    } else if (page_event_press_long == event) {
+        Page_Shift(page_menu);
+    }
+    if (Curser < LINE_HEAD) {
+        Curser = LINE_END;
+    } else if (Curser > LINE_END) {
+        Curser = LINE_HEAD;
+    }
+    Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
+}
+
+/**
+ * @brief 页面注册函数
+ *
+ * @param pageID
+ */
+void PageRegister_page_dparam(unsigned char pageID)
+{
+    Page_Register(pageID, Text, Setup, Loop, Exit, Event);
+}