diff --git a/app/jj_motion.c b/app/jj_motion.c
index 249e3d0..c3f0c58 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -81,7 +81,8 @@ float in_pos;
 float out_pos;
 float set_pos = 0.0f;
 // float set_gyro = 0.0f;
-float rate_K = 0;
+float rate_K1 = 0;
+float rate_K2 = 0;
 float in_speed;
 float out_speed;
 float last_angle;
@@ -111,15 +112,19 @@ int32_t pwm_duty_ls;
 int32_t pwm_duty_rs;
 int32_t pwm_duty_lb;
 int32_t pwm_duty_rb;
-int32_t stop_cnt = 0;
-int32_t last_lb  = 0;
-int32_t last_rb  = 0;
-float start_dis  = 0;
-float set_dis=1.f;
-uint8_t go_cnt   = 0; // 0 停车 1 测试侧向风扇 2 启动 3成功运行
-float bug_sw     = 0;
-float out_sw     = 0;
-float sho_sw     = 0;
+int32_t stop_cnt         = 0;
+int32_t last_lb          = 0;
+int32_t last_rb          = 0;
+float start_dis          = 0;
+float set_dis            = 1.f;
+uint8_t go_cnt           = 0; // 0 停车 1 测试侧向风扇 2 启动 3成功运行
+float bug_sw             = 0;
+float out_sw             = 0;
+float sho_sw             = 0;
+uint8_t bug_show_flag    = 0;
+uint8_t out_show_flag    = 0;
+uint8_t up_show_flag     = 0;
+uint8_t finish_show_flag = 0;
 /*
 0:无状态
 1:弯道
@@ -166,13 +171,15 @@ void sport_motion()
     if (cnt7 >= 50 && (uint8_t)sho_sw == 1) {
         bt_fly_flag = bt_run_flag = 0;
         bt_printf("up");
-        go_cnt = 0;
+        up_show_flag = 1;
+        go_cnt       = 0;
     }
     // 異常值停车
     if (fabs(in_angle - last_angle) > 45.f && (uint8_t)bug_sw == 1) {
         bt_fly_flag = bt_run_flag = 0;
         bt_printf("bug");
-        go_cnt = 0;
+        bug_show_flag = 1;
+        go_cnt        = 0;
     }
     // 斑马线停车,摄像头识别，屏蔽发车前的十秒钟
     if (1 == in_stop && if_start == 1) {
@@ -180,13 +187,15 @@ void sport_motion()
     }
     if (stop_flag == 1) {
         bt_printf("finish");
+        finish_show_flag = 1;
         bt_fly_flag = bt_run_flag = 0;
         go_cnt                    = 0;
     }
     // 出界停车,已经积分路过斑马线，保证斑马线不会触发
-    if (2 == in_stop && (start_dis >= set_dis|| bt_run_flag == 0) && (uint8_t)out_sw == 1) {
+    if (2 == in_stop && ((start_dis >= set_dis) || bt_run_flag == 0) && (uint8_t)out_sw == 1) {
         bt_printf("out");
-        go_cnt      = 0;
+        out_show_flag = 1;
+        go_cnt        = 0;
         bt_fly_flag = bt_run_flag = 0;
     }
 
@@ -215,7 +224,11 @@ void sport_motion()
             PID_SetTunings(&pos_pid, po_Kp1, po_Ki1, po_Kd1);
         } else if ((last_state != in_state) && in_state == 1) { // 弯道
             bt_printf("to 入弯");
-            set_speed = set_speed0 - fabs(rate_K * myclip_f(in_pos, -50.f, 50.f));
+            if (fabs(in_pos) <= 12.0f) {
+                set_speed = set_speed0 - fabs(rate_K1 * myclip_f(in_pos, -50.f, 50.f));
+            } else {
+                set_speed = set_speed0 - fabs(rate_K2 * myclip_f(in_pos, -50.f, 50.f));
+            }
 
             PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
             PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
@@ -233,7 +246,7 @@ void sport_motion()
         } else if ((last_state != in_state) && in_state == 5) { //
             bt_printf("to 障碍");
             set_speed = set_speed4;
-
+            start_dis = 0;
             PID_SetTunings(&far_angle_pid, za_Kp, za_Ki, za_Kd);
             PID_SetTunings(&far_gyro_pid, zg_Kp, zg_Ki, zg_Kd);
             PID_SetTunings(&pos_pid, zp_Kp, zp_Ki, zp_Kd);
@@ -241,9 +254,9 @@ void sport_motion()
 
         if (in_state == 1) {
             if (fabs(in_pos) <= 12.0f) {
-                set_speed = set_speed0 - fabs(rate_K / 3 * myclip_f(in_pos, -50.f, 50.f));
+                set_speed = set_speed0 - fabs(rate_K1 * myclip_f(in_pos, -50.f, 50.f));
             } else {
-                set_speed = set_speed0 - fabs(rate_K * myclip_f(in_pos, -50.f, 50.f));
+                set_speed = set_speed0 - fabs(rate_K2 * myclip_f(in_pos, -50.f, 50.f));
             }
         }
         // 记录上一次状态
diff --git a/app/jj_motion.h b/app/jj_motion.h
index e8f4d2d..07b41f3 100644
--- a/app/jj_motion.h
+++ b/app/jj_motion.h
@@ -59,7 +59,8 @@ extern float set_speed;
 extern float set_speed4;
 extern float last_angle;
 extern float yuc_Kp;
-extern float rate_K;
+extern float rate_K1;
+extern float rate_K2;
 extern float start_dis;
 extern float set_dis;
 extern int32_t pwm_duty_ls;
@@ -72,6 +73,10 @@ extern uint8_t in_stop;
 extern float bug_sw;
 extern float out_sw;
 extern float sho_sw;
+extern uint8_t bug_show_flag;
+extern uint8_t out_show_flag;
+extern uint8_t up_show_flag;
+extern uint8_t finish_show_flag;
 void sport_pid_init();
 void sport_motion(void);
 #endif
\ No newline at end of file
diff --git a/app/jj_param.c b/app/jj_param.c
index ac6debe..411fc24 100644
--- a/app/jj_param.c
+++ b/app/jj_param.c
@@ -24,11 +24,11 @@ void jj_param_eeprom_init(void)
 
     PARAM_REG(gyro_Kp0, &gy_Kp0, EFLOAT, 1, "gy_P0:"); // 注冊
     PARAM_REG(gyro_Ki0, &gy_Ki0, EFLOAT, 1, "gy_I0:"); // 注冊
-    PARAM_REG(gyro_Kd0, &gy_Kd0, EFLOAT, 1, "gy_D0:");
+    PARAM_REG(gyro_Kd0, &rate_K2, EFLOAT, 1, "ra_K2:");
 
     PARAM_REG(can_Kp1, &cn_Kp1, EFLOAT, 1, "cn_P1:"); // 注冊
     PARAM_REG(can_Ki1, &yuc_Kp, EFLOAT, 1, "yu_P1:"); // 注冊
-    PARAM_REG(can_Kd1, &rate_K, EFLOAT, 1, "ra_K:");
+    PARAM_REG(can_Kd1, &rate_K1, EFLOAT, 1, "ra_K1:");
 
     PARAM_REG(fly_pwm, &bt_fly, EFLOAT, 1, "fly:");
 
diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c
index ab0aaff..09fe971 100644
--- a/app/page/page_dparam.c
+++ b/app/page/page_dparam.c
@@ -66,7 +66,17 @@ static void Loop()
     ips200_show_float(80, 200, set_speed, 4, 2);
     ips200_show_string(0, 220, "dis");
     ips200_show_float(80, 220, start_dis, 4, 2);
-
+    if (up_show_flag == 1) {
+        ips200_show_string(180, 200, "up    ");
+    } else if (out_show_flag == 1) {
+        ips200_show_string(180, 200, "out   ");
+    } else if (bug_show_flag == 1) {
+        ips200_show_string(180, 200, "bug   ");
+    } else if (finish_show_flag == 1) {
+        ips200_show_string(180, 200, "finish");
+    } else {
+        ips200_show_string(180, 200, "      ");
+    }
     ips200_show_string(180, 0, "ls");
     ips200_show_float(220, 0, pwm_duty_ls, 4, 1);
     ips200_show_string(180, 20, "rs");
diff --git a/app/page/page_gocar.c b/app/page/page_gocar.c
index 9b39e4e..ce85a3c 100644
--- a/app/page/page_gocar.c
+++ b/app/page/page_gocar.c
@@ -30,6 +30,7 @@ static void Setup()
 {
 
     ips200_clear();
+    ips200_show_string(0, 2, "gocar");
     Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
     ips200_show_string(10, 200, "go_flag:");
     ips200_show_int(80, 200, go_cnt, 1);
@@ -103,7 +104,7 @@ static void Event(page_event event)
         }
         if (Curser == 4 && bt_run_flag != 0) {
             bt_run_flag = 0;
-            go_cnt=0;
+            go_cnt      = 0;
         }
 
     } else if (page_event_press_long == event) {
diff --git a/app/page/page_stopcar.c b/app/page/page_stopcar.c
index 786cfb2..c7d2a1e 100644
--- a/app/page/page_stopcar.c
+++ b/app/page/page_stopcar.c
@@ -26,7 +26,7 @@ static void jj_param_show();
 static void Setup()
 {
     ips200_clear();
-     ips200_show_string(0, 2,"barrir");
+     ips200_show_string(0, 2,"stopsw");
     Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
     for (int16 i = 0; i < LINE_END; i++) {
         ips200_show_string(0, i * 18 + 20, Param_Data[i +Strat_param ].text);