diff --git a/app/jj_blueteeth.c b/app/jj_blueteeth.c
index 42b0a6d..54aa0df 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      = 250;
+float bt_fly      = 250.f;
 enum bt_order {
     Fly_ctrl   = 0x01, // 起飞转换
     Fly_up     = 0x02, // 起飞程度增加
diff --git a/app/jj_blueteeth.h b/app/jj_blueteeth.h
index fe051a0..8715203 100644
--- a/app/jj_blueteeth.h
+++ b/app/jj_blueteeth.h
@@ -14,7 +14,7 @@ extern uint8_t bt_buffer; // 接收字符存入
 extern uint8_t bt_run_flag;
 extern uint8_t bt_fly_flag;
 extern uint32_t bt_run;
-extern uint32_t bt_fly;
+extern float bt_fly;
 
 void jj_bt_init();
 void jj_bt_run();
diff --git a/app/jj_motion.c b/app/jj_motion.c
index 79d24a6..d412b81 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -10,58 +10,62 @@
 PID_TypeDef far_angle_pid;
 PID_TypeDef angle_pid;
 PID_TypeDef far_gyro_pid;
-PID_TypeDef near_pos_pid;
 PID_TypeDef speed_pid;
-
-float an_Kp0 = 45.0f;
+// 弯道后面风扇角度环
+float an_Kp0 = 51.0f;
 float an_Ki0 = 0.0f;
 float an_Kd0 = 0.0f;
-
-float an_Kp1 = 45.0f;
+// 直道后面风扇角度环
+float an_Kp1 = 42.0f;
 float an_Ki1 = 0.0f;
 float an_Kd1 = 0.0f;
+// 圆环后面风扇角度环
+float yu_Kp0 = 40.0f;
+float yu_Ki0 = 0.0f;
+float yu_Kd0 = 0.0f;
+// 弯道侧面风扇角度环
+float cn_Kp1 = 420.0f;
+float cn_Ki1 = 0.f;
+float cn_Kd1 = 0.0f;
+// 直道侧面风扇角度环
+float po_Kp1 = 600.0f;
+float po_Ki1 = 0.0f;
+float po_Kd1 = 0.0f;
+// 期望和当前量
 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;
-
-float out_cangle;
-
-float gy_Kp0 = 4.0f;
-float gy_Ki0 = 0.0f;
-float gy_Kd0 = 0.0f;
-
-float gy_Kp1 = 4.0f;
-float gy_Ki1 = 0.0f;
-float gy_Kd1 = 0.0f;
-float in_gyro;
-float out_gyro;
-// float set_gyro = 0.0f;
-
-float po_Kp0 = 0.0f;
-float po_Ki0 = 0.0f;
-float po_Kd0 = 0.0f;
-
-float po_Kp1 = 200.0f;
-float po_Ki1 = 2.0f;
-float po_Kd1 = 0.0f;
 float in_pos;
 float out_pos;
 float set_pos = 0.0f;
-
+// 弯道角速度环
+float gy_Kp0 = 2.50f;
+float gy_Ki0 = 0.0f;
+float gy_Kd0 = 0.0f;
+// 直道角速度环
+float gy_Kp1 = 4.2f;
+float gy_Ki1 = 0.0f;
+float gy_Kd1 = 0.0f;
+// 圆环角速度环
+float ygy_Kp0 = 0.0f;
+float ygy_Ki0 = 0.0f;
+float ygy_Kd0 = 0.0f;
+// 当前和输入量
+float in_gyro;
+float out_gyro;
+// float set_gyro = 0.0f;
+// 速度环
 float sp_Kp = 16.0f;
-float sp_Ki = 10.f;
+float sp_Ki = 42.f;
 float sp_Kd = 0.0f;
+
 float in_speed;
 float out_speed;
 
-float temp_data    = 0;
-float set_speed    = 100.0f;
-float set_speed0   = 200.0f;
-float set_speed1   = 300.0f;
-float set_speed2   = 500.f;
+float set_speed;
+float set_speed0   = 520.0f;
+float set_speed1   = 900.0f;
+float set_speed2   = 550.f;
 int cnt1           = 0;
 int cnt2           = 0;
 int cnt3           = 0;
@@ -70,7 +74,7 @@ uint8_t cnt3_flag  = 0;
 uint8_t in_state   = 0;
 uint8_t in_stop    = 0;
 uint8_t last_state = 0;
-
+uint8_t stop_flag  = 0;
 uint32_t pwm_duty_ls;
 uint32_t pwm_duty_rs;
 uint32_t pwm_duty_lb;
@@ -97,20 +101,29 @@ float sport_get_speed(void)
 #undef ALPHA
 }
 
-void sport_motion(void)
+void sport_motion()
 {
 
     imu660ra_get_gyro();
+    imu660ra_get_acc();
     in_gyro = imu660ra_gyro_z;
     // 停车
-    if (1 == in_stop) {
+    if (imu660ra_acc_z <= 1000) {
         bt_fly_flag = bt_run_flag = 0;
     }
+    if (1 == in_stop) {
+        stop_flag = 1;
+    }
+    if (stop_flag == 1) {
+        cnt4++;
+        if (cnt4 >= 200) {
+            bt_fly_flag = bt_run_flag = 0;
+        }
+    }
     /* 动力风扇设置 */
     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;
@@ -119,6 +132,8 @@ void sport_motion(void)
             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);
+
+            PID_SetTunings(&angle_pid, po_Kp1, po_Ki1, po_Kd1);
         }
         if ((last_state != in_state) && in_state == 1) { // 弯道
             bt_printf("to 入弯");
@@ -126,13 +141,17 @@ void sport_motion(void)
             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);
+
+            PID_SetTunings(&angle_pid, cn_Kp1, cn_Ki1, cn_Kd1);
         }
-        if ((last_state != in_state) && in_state == 3) { // 弯道
+        if ((last_state != in_state) && in_state == 3) { // 圆环
             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);
+            PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
+
+            PID_SetTunings(&angle_pid, cn_Kp1, cn_Ki1, cn_Kd1);
         }
         last_state = in_state;
         if (cnt3_flag == 1 && (in_state == 1 || in_state == 3)) {
@@ -150,43 +169,25 @@ void sport_motion(void)
             cnt1 = 0;
         }
         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;
+            cnt2 = 0;
         }
         if (in_state == 0 || in_state == 2) {
             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||in_state == 3) {
+        } else if (in_state == 1 || in_state == 3) {
 
-            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_ls = (int32_t)myclip_f(-out_pos, -6000.0f, 6000.f);
+            pwm_duty_rs = (int32_t)myclip_f(out_pos, -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, -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 {
@@ -218,7 +219,7 @@ void sport_pid_init()
     PID_SetSampleTime(&far_angle_pid, 10);
     PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f);
 
-    PID(&angle_pid, &in_angle, &out_cangle, &set_angle, cn_Kp1, cn_Ki1, cn_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
+    PID(&angle_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
     PID_SetMode(&angle_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&angle_pid, 10);
     PID_SetOutputLimits(&angle_pid, -6000.0f, 6000.0f);
@@ -229,17 +230,9 @@ void sport_pid_init()
     PID_SetSampleTime(&far_gyro_pid, 10);
     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);
-    PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC);
-    PID_SetSampleTime(&near_pos_pid, 10);
-    PID_SetOutputLimits(&near_pos_pid, -5000.0f, 5000.0f);
-    // PID_Init(&near_pos_pid);
-
     /* 速度控制 */
     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, 5000.0f);
-    // PID_Init(&speed_pid);
 }
diff --git a/app/jj_motion.h b/app/jj_motion.h
index 669446e..5aad5bb 100644
--- a/app/jj_motion.h
+++ b/app/jj_motion.h
@@ -24,17 +24,18 @@ 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;
-extern float po_Kp0;
-extern float po_Ki0;
-extern float po_Kd0;
+extern float yu_Kp0;
+extern float yu_Ki0;
+extern float yu_Kd0;
 extern float in_pos;
 extern float out_pos;
 extern float set_pos;
-
+extern float ygy_Kp0;
+extern float ygy_Ki0;
+extern float ygy_Kd0;
 extern float sp_Kp;
 extern float sp_Ki;
 extern float sp_Kd;
@@ -42,6 +43,7 @@ extern float in_speed;
 extern float out_speed;
 extern float set_speed0;
 extern float set_speed1;
+extern float set_speed2;
 extern float set_speed ;
 extern uint32_t pwm_duty_ls;
 extern uint32_t pwm_duty_rs;
diff --git a/app/jj_param.c b/app/jj_param.c
index f209dff..dd1b3b8 100644
--- a/app/jj_param.c
+++ b/app/jj_param.c
@@ -3,6 +3,7 @@
 #include "./page/page.h"
 #include "zf_common_headfile.h"
 #include "jj_motion.h"
+#include "jj_blueteeth.h"
 
 PARAM_INFO Param_Data[DATA_NUM];
 soft_iic_info_struct eeprom_param;
@@ -25,13 +26,11 @@ void jj_param_eeprom_init(void)
     PARAM_REG(gyro_Ki0, &gy_Ki0, EFLOAT, 1, "gy_I0:"); // 注冊
     PARAM_REG(gyro_Kd0, &gy_Kd0, EFLOAT, 1, "gy_D0:");
 
-    PARAM_REG(speed_Kp, &sp_Kp, EFLOAT, 1, "sp_P:"); // 注冊
-    PARAM_REG(speed_Ki, &sp_Ki, EFLOAT, 1, "sp_I:"); // 注冊
-    PARAM_REG(speed_Kd, &sp_Kd, EFLOAT, 1, "sp_D:");
+    PARAM_REG(can_Kp1, &cn_Kp1, EFLOAT, 1, "cn_P1:"); // 注冊
+    PARAM_REG(can_Ki1, &cn_Ki1, EFLOAT, 1, "cn_I1:"); // 注冊
+    PARAM_REG(can_Kd1, &cn_Kd1, EFLOAT, 1, "cn_D1:");
 
-    PARAM_REG(pos_Kp0, &po_Kp0, EFLOAT, 1, "po_P0:"); // 注冊
-    PARAM_REG(pos_Ki0, &po_Ki0, EFLOAT, 1, "po_I0:"); // 注冊
-    PARAM_REG(pos_Kd0, &po_Kd0, EFLOAT, 1, "po_D0:");
+    PARAM_REG(fly_pwm, &bt_fly, EFLOAT, 1, "fly:");
 
     PARAM_REG(param_set_speed0, &set_speed0, EFLOAT, 1, "rate0:");
 
@@ -46,13 +45,24 @@ void jj_param_eeprom_init(void)
     PARAM_REG(pos_Kp1, &po_Kp1, EFLOAT, 1, "po_P1:"); // 注冊
     PARAM_REG(pos_Ki1, &po_Ki1, EFLOAT, 1, "po_I1:"); // 注冊
     PARAM_REG(pos_Kd1, &po_Kd1, EFLOAT, 1, "po_D1:");
-    
-    PARAM_REG(can_Kp1, &cn_Kp1, EFLOAT, 1, "cn_P1:"); // 注冊
-    PARAM_REG(can_Ki1, &cn_Ki1, EFLOAT, 1, "cn_I1:"); // 注冊
-    PARAM_REG(can_Kd1, &cn_Kd1, EFLOAT, 1, "cn_D1:");
+
     PARAM_REG(param_set_speed1, &set_speed1, EFLOAT, 1, "rate1:");
+
+    PARAM_REG(yuan_Kp0, &yu_Kp0, EFLOAT, 1, "an_P0:"); // 注冊
+    PARAM_REG(yuan_Ki0, &yu_Ki0, EFLOAT, 1, "an_I0:"); // 注冊
+    PARAM_REG(yuan_Kd0, &yu_Kd0, EFLOAT, 1, "an_D0:");
+
+    PARAM_REG(yugyro_Kp0, &ygy_Kp0, EFLOAT, 1, "gy_P0:"); // 注冊
+    PARAM_REG(yugyro_Ki0, &ygy_Ki0, EFLOAT, 1, "gy_I0:"); // 注冊
+    PARAM_REG(yugyro_Kd0, &ygy_Kd0, EFLOAT, 1, "gy_D0:");
+
+    PARAM_REG(speed_Kp, &sp_Kp, EFLOAT, 1, "sp_P:"); // 注冊
+    PARAM_REG(speed_Ki, &sp_Ki, EFLOAT, 1, "sp_I:"); // 注冊
+    PARAM_REG(speed_Kd, &sp_Kd, EFLOAT, 1, "sp_D:");
+
+    PARAM_REG(param_set_speed2, &set_speed2, EFLOAT, 1, "rate2:");
+
     jj_param_read(); // 注冊
-    set_speed=set_speed1;
 }
 /**
  * @brief 参数写入
@@ -60,7 +70,7 @@ void jj_param_eeprom_init(void)
  */
 void jj_param_write(void)
 {
-    for (uint8 i = 0; i < DATA_IN_FLASH_NUM ; i++) {
+    for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
         switch (Param_Data[i].type) {
             case EFLOAT:
                 iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data));
@@ -84,7 +94,7 @@ void jj_param_write(void)
  */
 void jj_param_read(void)
 {
-    for (uint8 i = 0; i < DATA_IN_FLASH_NUM ; i++) {
+    for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
 
         eep_soft_iic_read_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4);
         switch (Param_Data[i].type) {
diff --git a/app/jj_param.h b/app/jj_param.h
index ffd5c8a..0c7c714 100644
--- a/app/jj_param.h
+++ b/app/jj_param.h
@@ -17,36 +17,50 @@
 typedef enum {
 
     Page1_head = 0,
-
+    // 完道pid
     angle_Kp0 = Page1_head,
     angle_Ki0,
     angle_Kd0,
+
     gyro_Kp0,
     gyro_Ki0,
     gyro_Kd0,
-    speed_Kp,
-    speed_Ki,
-    speed_Kd,
-    pos_Kp0,
-    pos_Ki0,
-    pos_Kd0,
+
+    can_Kp1,
+    can_Ki1,
+    can_Kd1,
+    fly_pwm,
     param_set_speed0,
-    
+    // 直道pid
     Page2_head,
     angle_Kp1 = Page2_head,
     angle_Ki1,
     angle_Kd1,
+
     gyro_Kp1,
     gyro_Ki1,
     gyro_Kd1,
+
     pos_Kp1,
     pos_Ki1,
     pos_Kd1,
-    can_Kp1,
-    can_Ki1,
-    can_Kd1,
+
     param_set_speed1,
-    
+    // 圆环皮带
+    Page3_head,
+    yuan_Kp0 = Page3_head,
+    yuan_Ki0,
+    yuan_Kd0,
+
+    yugyro_Kp0,
+    yugyro_Ki0,
+    yugyro_Kd0,
+
+    speed_Kp,
+    speed_Ki,
+    speed_Kd,
+
+    param_set_speed2,
     DATA_IN_FLASH_NUM,
 
     delta_x,
diff --git a/app/page/page.c b/app/page/page.c
index 0c56a51..1d72746 100644
--- a/app/page/page.c
+++ b/app/page/page.c
@@ -124,12 +124,11 @@ void Page_Run(void)
 void Page_Init(void)
 {
     PAGE_REG(page_menu);
-    // PAGE_REG(page_rtcam);
+
     PAGE_REG(page_param_pid0);
-     PAGE_REG(page_param_pid1);
-    // PAGE_REG(page_argv);
-    // PAGE_REG(page_sys);
-    // PAGE_REG(page_run);
+    PAGE_REG(page_param_pid1);
+    PAGE_REG(page_param_pid2);
+
     PAGE_REG(page_dparam);
     Page_Shift(page_menu);
 
diff --git a/app/page/page.h b/app/page/page.h
index fe506f7..4fd4800 100644
--- a/app/page/page.h
+++ b/app/page/page.h
@@ -19,9 +19,10 @@ enum PageID {
     PAGE_NULL = -1,
     //......
     page_menu,
-    //page_rtcam,
+    // page_rtcam,
     page_param_pid0,
     page_param_pid1,
+    page_param_pid2,
     page_dparam,
     // page_argv,
     // page_sys,
@@ -30,11 +31,11 @@ enum PageID {
     page_max,
 };
 
-typedef enum page_event{
-    page_event_forward = rotate_button_forward,
-    page_event_backward = rotate_button_backward,
+typedef enum page_event {
+    page_event_forward     = rotate_button_forward,
+    page_event_backward    = rotate_button_backward,
     page_event_press_short = rotate_button_press_short,
-    page_event_press_long = rotate_button_press_long,
+    page_event_press_long  = rotate_button_press_long,
 } page_event;
 
 typedef void (*CallbackFunction_t)(void);
@@ -47,16 +48,16 @@ typedef struct {
     EventFunction_t EventCallback;
 } PAGE_LIST;
 
-//页面注册函数
-#define PAGE_REG(name)\
-do{\
-    extern void PageRegister_##name(unsigned char pageID);\
-    PageRegister_##name(name);\
-}while(0)
+// 页面注册函数
+#define PAGE_REG(name)                                         \
+    do {                                                       \
+        extern void PageRegister_##name(unsigned char pageID); \
+        PageRegister_##name(name);                             \
+    } while (0)
 
 void Page_Register(uint8_t pageID, char *pageText,
-        CallbackFunction_t setupCallback, CallbackFunction_t loopCallback,
-        CallbackFunction_t exitCallback, EventFunction_t eventCallback);
+                   CallbackFunction_t setupCallback, CallbackFunction_t loopCallback,
+                   CallbackFunction_t exitCallback, EventFunction_t eventCallback);
 
 void Page_EventTransmit(unsigned char event);
 void Page_Shift(unsigned char pageID);
diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c
index 505d499..ebae9c3 100644
--- a/app/page/page_dparam.c
+++ b/app/page/page_dparam.c
@@ -44,14 +44,14 @@ static void Loop()
 {
     ips200_show_string(0, 0, "sta:");
     ips200_show_float(80, 0, in_state, 4, 1);
-    ips200_show_string(0, 20, "outca:");
-    ips200_show_float(80, 20, out_cangle, 4, 1);
+    ips200_show_string(0, 20, "outsp:");
+    ips200_show_float(80, 20, out_speed, 4, 1);
     ips200_show_string(0, 40, "angle");
     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, "gyroz");
-    ips200_show_float(80, 80, in_gyro, 4, 2);
+    ips200_show_string(0, 60, "accz");
+    ips200_show_float(80, 60, (float)imu660ra_acc_z, 6, 1);
+    ips200_show_string(0, 80, "accy");
+    ips200_show_float(80, 80, (float)imu660ra_acc_y, 4, 2);
     ips200_show_string(0, 100, "speed");
     ips200_show_float(80, 100, in_speed, 4, 4);
     ips200_show_string(0, 120, "outang");
diff --git a/app/page/page_menu.c b/app/page/page_menu.c
index f159188..746a827 100644
--- a/app/page/page_menu.c
+++ b/app/page/page_menu.c
@@ -5,13 +5,14 @@
 #include "jj_blueteeth.h"
 
 #define LINE_HEAD 1
-#define LINE_END  5
+#define LINE_END  4
 
 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 cnt              = 0;
+uint8_t go_flag           = 0;
 uint32_t reset[3];
 static void Print_Menu_p(void);
 /***************************************************************************************
@@ -30,7 +31,7 @@ static void Setup()
     ips200_clear();
     Print_Menu_p();
     Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
-    reset[0]=0x01;
+    reset[0] = 0x01;
 }
 
 /**
@@ -49,6 +50,14 @@ static void Exit()
  */
 static void Loop()
 {
+    if (go_flag == 1) {
+        system_delay_ms(1000);
+        bt_fly_flag = 1;
+        system_delay_ms(1000);
+        bt_run_flag = 1;
+
+        go_flag = 0;
+    }
 }
 
 /**
@@ -70,21 +79,8 @@ static void Event(page_event event)
             Page_Shift(Curser); // 切换到光标选中的页面
         }
     } else if (page_event_press_long == event) {
-        if(cnt==0)
-        {
-             by_frame_send(reset);
-             cnt=1;
-        }
-        else if(cnt==1)
-        {
-            cnt=2;
-            bt_fly_flag=1;
-        }else if(cnt==2)
-        {
-            cnt=0;
-            bt_run_flag=1;
-        }
-       
+        go_flag = 1;
+        ips200_clear();
     }
 
     if (Curser < LINE_HEAD) {
diff --git a/app/page/page_param_pid0.c b/app/page/page_param_pid0.c
index 3582974..c452b51 100644
--- a/app/page/page_param_pid0.c
+++ b/app/page/page_param_pid0.c
@@ -4,9 +4,9 @@
 #include "page.h"
 #include <math.h>
 
-#define LINE_HEAD 0
-#define LINE_END  Page2_head - 1
-static char Text[]        = "Param_pid0";
+#define LINE_HEAD 1
+#define LINE_END  Page2_head
+static char Text[]        = "turn_pid";
 static int event_flag     = 0;
 static int index_power    = 0;
 static int8_t Curser      = LINE_HEAD; // 定义光标位置
@@ -25,13 +25,14 @@ static void jj_param_show();
 static void Setup()
 {
     ips200_clear();
+    ips200_show_string(0, 2,"turn");
     Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
-    for (int16 i = 0; i <= LINE_END; i++) {
-        ips200_show_string(0, i * 18 + 2, Param_Data[i].text);
+    for (int16 i = 0; i < LINE_END; i++) {
+        ips200_show_string(0, i * 18 + 20, Param_Data[i].text);
         if (Param_Data[i].type == EINT32)
-            ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i].p_data)), 5);
+            ips200_show_int(50, i * 18 + 20, *((int32 *)(Param_Data[i].p_data)), 5);
         else if (Param_Data[i].type == EFLOAT)
-            ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i].p_data)), 4, 5);
+            ips200_show_float(50, i * 18 + 20, *((float *)(Param_Data[i].p_data)), 4, 5);
     }
     ips200_show_int(100, 2, index_power, 5);
 }
@@ -87,20 +88,20 @@ static void Event(page_event event)
         Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
     } else if (1 == event_flag) {
         if (page_event_forward == event) {
-            if (Param_Data[Curser].type == EFLOAT) {
-                *((float *)(Param_Data[Curser].p_data)) += powf(10.0f, (float)index_power);
-            } else if (Param_Data[Curser].type == EINT32) {
-                *((int32 *)(Param_Data[Curser].p_data)) += 1;
-            } else if (Param_Data[Curser].type == EUINT32) {
-                *((uint32 *)(Param_Data[Curser].p_data)) += 1;
+            if (Param_Data[Curser-1].type == EFLOAT) {
+                *((float *)(Param_Data[Curser-1].p_data)) += powf(10.0f, (float)index_power);
+            } else if (Param_Data[Curser-1].type == EINT32) {
+                *((int32 *)(Param_Data[Curser-1].p_data)) += 1;
+            } else if (Param_Data[Curser-1].type == EUINT32) {
+                *((uint32 *)(Param_Data[Curser-1].p_data)) += 1;
             }
         } else if (page_event_backward == event) {
-            if (Param_Data[Curser].type == EFLOAT) {
-                *((float *)(Param_Data[Curser].p_data)) -= powf(10.0f, (float)index_power);
-            } else if (Param_Data[Curser].type == EINT32) {
-                *((int32 *)(Param_Data[Curser].p_data)) -= 1;
-            } else if (Param_Data[Curser].type == EUINT32) {
-                *((uint32 *)(Param_Data[Curser].p_data)) -= 1;
+            if (Param_Data[Curser-1].type == EFLOAT) {
+                *((float *)(Param_Data[Curser-1].p_data)) -= powf(10.0f, (float)index_power);
+            } else if (Param_Data[Curser-1].type == EINT32) {
+                *((int32 *)(Param_Data[Curser-1].p_data)) -= 1;
+            } else if (Param_Data[Curser-1].type == EUINT32) {
+                *((uint32 *)(Param_Data[Curser-1].p_data)) -= 1;
             }
         } else if (page_event_press_short == event) {
             index_power++;
@@ -117,12 +118,12 @@ static void Event(page_event event)
 }
 static void jj_param_show()
 {
-    if (EINT32 == Param_Data[Curser].type)
-        ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser].p_data)), 5);
-    else if (EUINT32 == Param_Data[Curser].type)
-        ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser].p_data)), 5);
-    else if (EFLOAT == Param_Data[Curser].type)
-        ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser].p_data)), 4, 5);
+    if (EINT32 == Param_Data[Curser-1].type)
+        ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser-1].p_data)), 5);
+    else if (EUINT32 == Param_Data[Curser-1].type)
+        ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser-1].p_data)), 5);
+    else if (EFLOAT == Param_Data[Curser-1].type)
+        ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser-1].p_data)), 4, 5);
 }
 /**
  * @brief 页面注册函数
diff --git a/app/page/page_param_pid1.c b/app/page/page_param_pid1.c
index 769febd..0e8c8f7 100644
--- a/app/page/page_param_pid1.c
+++ b/app/page/page_param_pid1.c
@@ -4,9 +4,10 @@
 #include "page.h"
 #include <math.h>
 
-#define LINE_HEAD 0
-#define LINE_END  DATA_IN_FLASH_NUM - 1 - Page2_head
-static char Text[]        = "Param_pid1";
+#define LINE_HEAD 1
+#define LINE_END  Page3_head  - Page2_head
+#define Strat_param Page2_head
+static char Text[]        = "stra_pid";
 static int event_flag     = 0;
 static int index_power    = 0;
 static int8_t Curser      = LINE_HEAD; // 定义光标位置
@@ -25,13 +26,14 @@ static void jj_param_show();
 static void Setup()
 {
     ips200_clear();
+    ips200_show_string(0, 2,"straight");
     Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
-    for (int16 i = 0; i < 13; i++) {
-        ips200_show_string(0, i * 18 + 2, Param_Data[i + 13].text);
-        if (Param_Data[i + 13].type == EINT32)
-            ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i + 13].p_data)), 5);
-        else if (Param_Data[i + 13].type == EFLOAT)
-            ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i + 13].p_data)), 4, 5);
+    for (int16 i = 0; i < LINE_END; i++) {
+        ips200_show_string(0, i * 18 + 20, Param_Data[i +Strat_param ].text);
+        if (Param_Data[i + Strat_param].type == EINT32)
+            ips200_show_int(50, i * 18 + 20, *((int32 *)(Param_Data[i + Strat_param].p_data)), 5);
+        else if (Param_Data[i + Strat_param].type == EFLOAT)
+            ips200_show_float(50, i * 18 + 20, *((float *)(Param_Data[i + Strat_param].p_data)), 4, 5);
     }
     ips200_show_int(100, 2, index_power, 5);
 }
@@ -87,20 +89,20 @@ static void Event(page_event event)
         Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
     } else if (1 == event_flag) {
         if (page_event_forward == event) {
-            if (Param_Data[Curser + 13].type == EFLOAT) {
-                *((float *)(Param_Data[Curser + 13].p_data)) += powf(10.0f, (float)index_power);
-            } else if (Param_Data[Curser + 13].type == EINT32) {
-                *((int32 *)(Param_Data[Curser + 13].p_data)) += 1;
-            } else if (Param_Data[Curser + 13].type == EUINT32) {
-                *((uint32 *)(Param_Data[Curser + Page2_head].p_data)) += 1;
+            if (Param_Data[Curser + Strat_param-1].type == EFLOAT) {
+                *((float *)(Param_Data[Curser + Strat_param-1].p_data)) += powf(10.0f, (float)index_power);
+            } else if (Param_Data[Curser + Strat_param-1].type == EINT32) {
+                *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1;
+            } else if (Param_Data[Curser + Strat_param-1].type == EUINT32) {
+                *((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1;
             }
         } else if (page_event_backward == event) {
-            if (Param_Data[Curser + Page2_head].type == EFLOAT) {
-                *((float *)(Param_Data[Curser + Page2_head].p_data)) -= powf(10.0f, (float)index_power);
-            } else if (Param_Data[Curser + Page2_head].type == EINT32) {
-                *((int32 *)(Param_Data[Curser + Page2_head].p_data)) -= 1;
-            } else if (Param_Data[Curser + Page2_head].type == EUINT32) {
-                *((uint32 *)(Param_Data[Curser + Page2_head].p_data)) -= 1;
+            if (Param_Data[Curser + Strat_param-1].type == EFLOAT) {
+                *((float *)(Param_Data[Curser + Strat_param-1].p_data)) -= powf(10.0f, (float)index_power);
+            } else if (Param_Data[Curser + Strat_param-1].type == EINT32) {
+                *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1;
+            } else if (Param_Data[Curser + Strat_param-1].type == EUINT32) {
+                *((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1;
             }
         } else if (page_event_press_short == event) {
             index_power++;
@@ -117,12 +119,12 @@ static void Event(page_event event)
 }
 static void jj_param_show()
 {
-    if (EINT32 == Param_Data[Curser + 13].type)
-        ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + 13].p_data)), 5);
-    else if (EUINT32 == Param_Data[Curser + 13].type)
-        ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + 13].p_data)), 5);
-    else if (EFLOAT == Param_Data[Curser + 13].type)
-        ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser + 13].p_data)), 4, 5);
+    if (EINT32 == Param_Data[Curser + Strat_param-1].type)
+        ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)), 5);
+    else if (EUINT32 == Param_Data[Curser + Strat_param-1].type)
+        ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)), 5);
+    else if (EFLOAT == Param_Data[Curser + Strat_param-1].type)
+        ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser + Strat_param-1].p_data)), 4, 5);
 }
 /**
  * @brief 页面注册函数
diff --git a/app/page/page_param_pid2.c b/app/page/page_param_pid2.c
new file mode 100644
index 0000000..1526ef1
--- /dev/null
+++ b/app/page/page_param_pid2.c
@@ -0,0 +1,137 @@
+#include "jj_param.h"
+#include "page_ui_widget.h"
+#include "jj_motion.h"
+#include "page.h"
+#include <math.h>
+
+#define LINE_HEAD 1
+#define LINE_END  DATA_IN_FLASH_NUM  - Page3_head
+#define Strat_param Page3_head
+static char Text[]        = "cir_pid";
+static int event_flag     = 0;
+static int index_power    = 0;
+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
+static void jj_param_show();
+/***************************************************************************************
+ *
+ *                                  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();
+     ips200_show_string(0, 2,"circle");
+    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);
+        if (Param_Data[i + Strat_param].type == EINT32)
+            ips200_show_int(50, i * 18 + 20, *((int32 *)(Param_Data[i + Strat_param].p_data)), 5);
+        else if (Param_Data[i + Strat_param].type == EFLOAT)
+            ips200_show_float(50, i * 18 + 20, *((float *)(Param_Data[i + Strat_param].p_data)), 4, 5);
+    }
+    ips200_show_int(100, 2, index_power, 5);
+}
+
+/**
+ * @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()
+{
+}
+/**
+ * @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)
+{
+
+    if (0 == event_flag) {
+
+        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) {
+            event_flag = 1; // 选中参数
+            Print_Curser(Curser, Curser_Last, RGB565_RED);
+            return;
+        } else if (page_event_press_long == event) {
+            jj_param_write();
+            sport_pid_init();
+            Page_Shift(page_menu);
+            return;
+        }
+        if (Curser < LINE_HEAD) {
+            Curser = LINE_END;
+        } else if (Curser > LINE_END) {
+            Curser = LINE_HEAD;
+        }
+        Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
+    } else if (1 == event_flag) {
+        if (page_event_forward == event) {
+            if (Param_Data[Curser + Strat_param-1].type == EFLOAT) {
+                *((float *)(Param_Data[Curser + Strat_param-1].p_data)) += powf(10.0f, (float)index_power);
+            } else if (Param_Data[Curser + Strat_param-1].type == EINT32) {
+                *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1;
+            } else if (Param_Data[Curser + Strat_param-1].type == EUINT32) {
+                *((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1;
+            }
+        } else if (page_event_backward == event) {
+            if (Param_Data[Curser + Strat_param-1].type == EFLOAT) {
+                *((float *)(Param_Data[Curser + Strat_param-1].p_data)) -= powf(10.0f, (float)index_power);
+            } else if (Param_Data[Curser + Strat_param-1].type == EINT32) {
+                *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1;
+            } else if (Param_Data[Curser + Strat_param-1].type == EUINT32) {
+                *((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1;
+            }
+        } else if (page_event_press_short == event) {
+            index_power++;
+            if (index_power > 2) {
+                index_power = -2;
+            }
+            ips200_show_int(100, 2, index_power, 5);
+        } else if (page_event_press_long == event) {
+            event_flag = 0;
+            Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
+        }
+        jj_param_show();
+    }
+}
+static void jj_param_show()
+{
+    if (EINT32 == Param_Data[Curser + Strat_param-1].type)
+        ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)), 5);
+    else if (EUINT32 == Param_Data[Curser + Strat_param-1].type)
+        ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)), 5);
+    else if (EFLOAT == Param_Data[Curser + Strat_param-1].type)
+        ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser + Strat_param-1].p_data)), 4, 5);
+}
+/**
+ * @brief 页面注册函数
+ *
+ * @param pageID
+ */
+void PageRegister_page_param_pid2(unsigned char pageID)
+{
+    Page_Register(pageID, Text, Setup, Loop, Exit, Event);
+}