diff --git a/app/jj_motion.c b/app/jj_motion.c
index c890957..9127b20 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -40,6 +40,22 @@ float set_speed = 0.0f;
 
 int cnt1 = 0;
 
+float sport_get_speed(void)
+{
+#define ALPHA (0.97f)
+    static float speed_now  = 0;
+    static float speed_last = 0;
+
+    speed_now  = ALPHA * (float)encoder_get_count(TIM5_ENCOEDER) + (1.0f - ALPHA) * speed_last;
+    speed_last = speed_now;
+
+    encoder_clear_count(TIM5_ENCOEDER);
+
+    return speed_now;
+
+#undef ALPHA
+}
+
 void sport_motion(void)
 {
 
@@ -54,14 +70,14 @@ void sport_motion(void)
     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
-                                                      // printf("rate:%d\r\n", (int16)in_speed);
-        encoder_clear_count(TIM5_ENCOEDER);
+        // in_speed = -encoder_get_count(TIM5_ENCOEDER); // 速度输入，m/s
+        in_speed = sport_get_speed();
+        printf("rate:%d\r\n", (int16_t)in_speed);
         PID_Compute(&near_pos_pid);
         cnt1 = 0;
     }
 
-       if (bt_run_flag == 1) {
+    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),
@@ -74,6 +90,7 @@ void sport_motion(void)
     }
     by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
 }
+
 /**
  * @brief 结构体初始化
  *