diff --git a/app/by_fan_control.c b/app/by_fan_control.c
index cd34668..acee032 100644
--- a/app/by_fan_control.c
+++ b/app/by_fan_control.c
@@ -153,7 +153,7 @@ void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_
     if (bpwm_duty_lb >= 0) {
         pwm_set_duty(FAN_LB_PWM_A_PIN, bpwm_duty_lb);
         pwm_set_duty(FAN_LB_PWM_B_PIN, 0);
-    } else if (bpwm_duty_lb < -1000 && out_speed < -2000.0f) {
+    } else  {
         pwm_set_duty(FAN_LB_PWM_A_PIN, 0);
         pwm_set_duty(FAN_LB_PWM_B_PIN, -1 * bpwm_duty_lb);
     }
@@ -161,7 +161,7 @@ void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_
     if (bpwm_duty_rb >= 0) {
         pwm_set_duty(FAN_RB_PWM_A_PIN, bpwm_duty_rb);
         pwm_set_duty(FAN_RB_PWM_B_PIN, 0);
-    } else if (bpwm_duty_rb < -1000 && out_speed < -2000.0f) {
+    } else{
         pwm_set_duty(FAN_RB_PWM_A_PIN, 0);
         pwm_set_duty(FAN_RB_PWM_B_PIN, -1 * bpwm_duty_rb);
     }
diff --git a/app/jj_blueteeth.c b/app/jj_blueteeth.c
index b53a820..42b0a6d 100644
--- a/app/jj_blueteeth.c
+++ b/app/jj_blueteeth.c
@@ -6,7 +6,7 @@ uint8_t bt_buffer; // 接收字符存入
 uint8_t bt_run_flag = 0;
 uint8_t  bt_fly_flag  = 0;
 uint32_t bt_run      = 0;
-uint32_t bt_fly      = 300;
+uint32_t bt_fly      = 250;
 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 3e47862..79d24a6 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -23,7 +23,6 @@ float an_Kd1 = 0.0f;
 float in_angle;
 float set_angle = 0.0f;
 float out_angle;
-
 float cn_Kp1 = 45.0f;
 float cn_Ki1 = 0.f;
 float cn_Kd1 = 0.0f;
@@ -62,9 +61,11 @@ float temp_data    = 0;
 float set_speed    = 100.0f;
 float set_speed0   = 200.0f;
 float set_speed1   = 300.0f;
+float set_speed2   = 500.f;
 int cnt1           = 0;
 int cnt2           = 0;
 int cnt3           = 0;
+int cnt4           = 0;
 uint8_t cnt3_flag  = 0;
 uint8_t in_state   = 0;
 uint8_t in_stop    = 0;
@@ -109,69 +110,83 @@ void sport_motion(void)
     if (1 == bt_run_flag) {
         cnt1++;
         cnt2++;
+        cnt4++;
         // pid参数切换
         if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
             cnt3_flag = 0;
             cnt3      = 0;
-            bt_printf("to 0");
+            bt_printf("to 直道");
             set_speed = set_speed1;
             PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
             PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);
         }
-        if ((last_state != in_state) && (in_state == 1 || in_state == 3)) { // 弯道
-            bt_printf("to 1");
+        if ((last_state != in_state) && in_state == 1) { // 弯道
+            bt_printf("to 入弯");
             set_speed = set_speed0;
             cnt3_flag = 1;
             PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
             PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
         }
+        if ((last_state != in_state) && in_state == 3) { // 弯道
+            bt_printf("to 圆环");
+            set_speed = set_speed2;
+            cnt3_flag = 1;
+            PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
+            PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
+        }
         last_state = in_state;
-        if (cnt3_flag == 1 && in_state == 1) {
+        if (cnt3_flag == 1 && (in_state == 1 || in_state == 3)) {
             cnt3++;
             if (cnt3 >= 500) // 200ms
             {
-                bt_printf("to 2");
+                bt_printf("to 环内");
                 cnt3_flag = 2;
                 cnt3      = 0;
             }
         }
-        PID_Compute(&far_gyro_pid);
-        PID_Compute(&near_pos_pid);
-        if (cnt1 >= 10) {
-            in_speed = sport_get_speed();
-            PID_Compute(&speed_pid);
+
+        if (cnt1 >= 2) {
+            PID_Compute(&far_gyro_pid);
             cnt1 = 0;
         }
-        if (cnt2 >= 20) {
+        if (cnt2 >= 10) {
             cnt2 = 0;
+            PID_Compute(&near_pos_pid);
+        }
+        if (cnt4 >= 10) {
+            in_speed = sport_get_speed();
+            PID_Compute(&speed_pid);
+
             PID_Compute(&far_angle_pid);
             PID_Compute(&angle_pid);
+            cnt4 = 0;
         }
         if (in_state == 0 || in_state == 2) {
-            pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 7000.f);
-            pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 7000.f);
+            pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 6000.f);
+            pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 6000.f);
             pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
             pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);
-        } else if (in_state == 1) {
+        } else if (in_state == 1||in_state == 3) {
 
-            pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -7000.0f, 7000.f);
-            pwm_duty_rs = (int32_t)myclip_f(out_cangle, -7000.0f, 7000.f);
-            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
-            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);
+            pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -6000.0f, 6000.f);
+            pwm_duty_rs = (int32_t)myclip_f(out_cangle, -6000.0f, 6000.f);
+            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, -6000.0f, 6000.f);
+            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, -6000.0f, 6000.f);
 
-        } else if (in_state == 3) {
-            if (out_gyro > 0) {
-                pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -7000.0f, 7000.f);
-                pwm_duty_rs = (int32_t)myclip_f(out_cangle, -7000.0f, 7000.f);
-                pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
-                pwm_duty_rb = (int32_t)myclip_f(out_speed, 0.0f, 6000.f);
-            } else {
-                pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -7000.0f, 7000.f);
-                pwm_duty_rs = (int32_t)myclip_f(out_cangle, -7000.0f, 7000.f);
-                pwm_duty_lb = (int32_t)myclip_f(out_speed, 0.0f, 6000.f);
-                pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);
-            }
         }
+        //  else if (in_state == 3) {
+        //     if (out_gyro > 0) {
+        //         pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -6000.0f, 6000.f);
+        //         pwm_duty_rs = (int32_t)myclip_f(out_cangle, -6000.0f, 6000.f);
+        //         pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
+        //         pwm_duty_rb = (int32_t)myclip_f(out_speed, 0.0f, 6000.f);
+        //     } else {
+        //         pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -6000.0f, 6000.f);
+        //         pwm_duty_rs = (int32_t)myclip_f(out_cangle, -6000.0f, 6000.f);
+        //         pwm_duty_lb = (int32_t)myclip_f(out_speed, 0.0f, 6000.f);
+        //         pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);
+        //     }
+        // }
 
         by_pwm_power_duty((int32_t)pwm_duty_ls, (int32_t)pwm_duty_rs, (int32_t)pwm_duty_lb, (int32_t)pwm_duty_rb);
     } else {
@@ -182,8 +197,8 @@ void sport_motion(void)
         by_pwm_update_duty(0 + 500, 0 + 500);
     } else {
         if (in_state == 1 && cnt3_flag == 1) {
-            float tt = 150 * fabs(tanf(myclip_f(in_angle, -45.f, 45.f) / 180 * PI));
-            by_pwm_update_duty(bt_fly + 500-tt, bt_fly + 500-tt);
+            float tt = 60 * fabs(tanf(myclip_f(in_angle, -60.f, 60.f) / 180 * PI));
+            by_pwm_update_duty(bt_fly + 500 - tt, bt_fly + 500 - tt);
 
         } else {
             by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
@@ -212,7 +227,7 @@ void sport_pid_init()
     PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量
     PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&far_gyro_pid, 10);
-    PID_SetOutputLimits(&far_gyro_pid, -4000.0f, 4000.0f);
+    PID_SetOutputLimits(&far_gyro_pid, -5000.0f, 5000.0f);
 
     /* 近点控制 */
     PID(&near_pos_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
@@ -225,6 +240,6 @@ void sport_pid_init()
     PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT);
     PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&speed_pid, 10);
-    PID_SetOutputLimits(&speed_pid, -4000.0f, 6000.0f);
+    PID_SetOutputLimits(&speed_pid, -4000.0f, 5000.0f);
     // PID_Init(&speed_pid);
 }
diff --git a/app/jj_motion.h b/app/jj_motion.h
index dd489ad..669446e 100644
--- a/app/jj_motion.h
+++ b/app/jj_motion.h
@@ -24,7 +24,7 @@ extern float gy_Kd0;
 extern float in_gyro;
 extern float out_gyro;
 extern float set_gyro;
-
+extern float out_cangle;
 extern float po_Kp1;
 extern float po_Ki1;
 extern float po_Kd1;
diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c
index 69a76f1..505d499 100644
--- a/app/page/page_dparam.c
+++ b/app/page/page_dparam.c
@@ -44,8 +44,8 @@ static void Loop()
 {
     ips200_show_string(0, 0, "sta:");
     ips200_show_float(80, 0, in_state, 4, 1);
-    ips200_show_string(0, 20, "sto:");
-    ips200_show_float(80, 20, in_stop, 4, 1);
+    ips200_show_string(0, 20, "outca:");
+    ips200_show_float(80, 20, out_cangle, 4, 1);
     ips200_show_string(0, 40, "angle");
     ips200_show_float(80, 40, in_angle, 4, 1);
     ips200_show_string(0, 60, "near");
diff --git a/app/page/page_menu.c b/app/page/page_menu.c
index 248793d..f159188 100644
--- a/app/page/page_menu.c
+++ b/app/page/page_menu.c
@@ -12,7 +12,7 @@ static char Text[] = "Menu";
 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
 uint32_t cnt             = 0;
-uint32_t reset[1];
+uint32_t reset[3];
 static void Print_Menu_p(void);
 /***************************************************************************************
  *