diff --git a/app/gl_common.h b/app/gl_common.h
index 4118f93..50d17ec 100644
--- a/app/gl_common.h
+++ b/app/gl_common.h
@@ -3,8 +3,8 @@
 
 #define IMAGE_H               (MT9V03X_H)
 #define IMAGE_W               (MT9V03X_W)
-#define BEGINH_L              (55)
-#define BEGINH_R              (55)
+#define BEGINH_L              (61)
+#define BEGINH_R              (61)
 #define BEGINW_L              (-18)
 #define BEGINW_R              (-12)
 #define PT_MAXLEN             (75)
diff --git a/app/gl_state.h b/app/gl_state.h
index dc762c0..c710d3e 100644
--- a/app/gl_state.h
+++ b/app/gl_state.h
@@ -23,6 +23,6 @@ enum state_type_e {
 extern enum state_type_e state_type;
 
 #define CROSS_AIM  (0.49f)
-#define COMMON_AIM (0.31f)
+#define COMMON_AIM (0.25f)
 
 #endif /* STATE_H_ */
diff --git a/app/gl_tracking.c b/app/gl_tracking.c
index b6bf79c..aa7b1df 100644
--- a/app/gl_tracking.c
+++ b/app/gl_tracking.c
@@ -3,7 +3,7 @@
 
 float (*mid_track)[2];
 int32_t mid_track_count;
-float dx;
+float pure_angle;
 float dx_near;
 float (*rpts)[2];
 int rpts_num;
@@ -107,10 +107,10 @@ void MidLineTrack()
         int aim_idx_near = clip(round(0.09 / RESAMPLEDIST), 0, rptsn_num - 1);
 
         // 计算远锚点偏差值
-        dx = rptsn[aim_idx][1] - cx;
-        // float dy = cy - rptsn[aim_idx][0] + 0.2 * PIXPERMETER;
-        // float dn = sqrt(dx * dx + dy * dy);
-        // float error = -atan2f(dx, dy) * 180 / PI;
+       float dx = rptsn[aim_idx][1] - cx;
+         float dy = cy - rptsn[aim_idx][0] + 0.2 * PIXPERMETER;
+         float dn = sqrt(dx * dx + dy * dy);
+         float error = -atan2f(dx, dy) * 180 / PI;
 
         // 计算近锚点偏差值
         dx_near = rptsn[aim_idx_near][1] - cx;
@@ -121,6 +121,6 @@ void MidLineTrack()
         // //考虑近点
         // near_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx_near / dn_near / dn_near) / PI * 180 ;
         // //考虑远点
-        // pure_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx/ dn / dn) / PI * 180 ;
+         pure_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx/ dn / dn) / PI * 180 ;
     }
 }
diff --git a/app/gl_tracking.h b/app/gl_tracking.h
index f2c124c..8b2de2c 100644
--- a/app/gl_tracking.h
+++ b/app/gl_tracking.h
@@ -2,7 +2,7 @@
 #define TRACKING
 
 extern float (*mid_track)[2];
-extern float dx;
+extern float pure_angle;
 extern float dx_near;
 
 void tracking(void);
diff --git a/app/jj_param.c b/app/jj_param.c
index 00ff0b3..c018880 100644
--- a/app/jj_param.c
+++ b/app/jj_param.c
@@ -31,7 +31,7 @@ void jj_param_eeprom_init(void)
     PARAM_REG(imgax_Ki, &data4, EFLOAT, 1, "im_I:");                                                      // 注冊
     PARAM_REG(imgax_Kd, &data5, EFLOAT, 1, "im_D:");
     PARAM_REG(other   , &data6, EFLOAT, 1, "add:");
-    PARAM_REG(delta_x , &dx, EFLOAT, 2, "far:");
+    PARAM_REG(delta_x , &pure_angle, EFLOAT, 2, "far:");
     PARAM_REG(delta_y , &dx_near, EFLOAT, 0, "near:");
     jj_param_read(); // 注冊
 }
diff --git a/app/main.c b/app/main.c
index 804247d..805c459 100644
--- a/app/main.c
+++ b/app/main.c
@@ -56,7 +56,7 @@ int main(void)
     while (1) {
         Page_Run();
         by_buzzer_run();
-        tiny_frame_param[0].f32 = dx;
+        tiny_frame_param[0].f32 = pure_angle;
         tiny_frame_param[1].f32 = dx_near;
         system_delay_ms(10);
         if (mt9v03x_finish_flag) {