diff --git a/app/jj_motion.c b/app/jj_motion.c
index a60f9c5..8a12ad2 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -51,11 +51,12 @@ float sp_Kd = 0.0f;
 float in_speed;
 float out_speed;
 
-float set_speed0  = 460.0f;
-float set_speed1  = 460.0f;
-int cnt1          = 0;
-int cnt2          = 0;
-uint32_t in_state = 0;
+float set_speed0 = 460.0f;
+float set_speed1 = 460.0f;
+int cnt1         = 0;
+int cnt2         = 0;
+uint8_t in_state = 0;
+uint8_t in_stop  = 0;
 
 uint32_t pwm_duty_ls;
 uint32_t pwm_duty_rs;
@@ -86,7 +87,10 @@ float sport_get_speed(void)
 
 void sport_motion(void)
 {
-    if (1 == in_state) {
+    if (1 == in_stop) {
+        bt_fly_flag = bt_run_flag = 0; 
+    }
+    if (0 == in_state || 2 == in_state) {
         PID_SetTunings(&far_gyro_pid, an_Kp1, an_Ki1, an_Kd1);
         PID_SetTunings(&near_pos_pid, po_Kp1, po_Ki1, po_Kd1);
         PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);
diff --git a/app/jj_motion.h b/app/jj_motion.h
index 53cc5fc..6a9d619 100644
--- a/app/jj_motion.h
+++ b/app/jj_motion.h
@@ -45,7 +45,8 @@ extern uint32_t pwm_duty_rs;
 extern uint32_t pwm_duty_lb;
 extern uint32_t pwm_duty_rb;
 
-extern uint32_t in_state;
+extern uint8_t in_state;
+extern uint8_t in_stop;
 void sport_pid_init();
 void sport_motion(void);
 #endif
\ No newline at end of file
diff --git a/app/jj_param.h b/app/jj_param.h
index 7882aa3..e8f1a9a 100644
--- a/app/jj_param.h
+++ b/app/jj_param.h
@@ -61,7 +61,7 @@ typedef union {
     uint32_t u32;
     int32_t s32;
     float f32;
-    uint8_t u8;
+    uint8_t u8[4];
 } TYPE_UNION;
 
 typedef struct {
diff --git a/app/main.c b/app/main.c
index 04f3302..2d92396 100644
--- a/app/main.c
+++ b/app/main.c
@@ -35,7 +35,7 @@
 #include "by_frame.h"
 #include "by_rt_button.h"
 #include "by_fan_control.h"
-
+uint8_t last_state;
 int main(void)
 {
     TYPE_UNION test_data[BY_FRAME_DATA_NUM];
@@ -69,6 +69,11 @@ int main(void)
         jj_bt_run();
         in_pos   = test_data[1].f32;
         in_angle = test_data[0].f32;
-        in_state= test_data[2].u32;
+        in_state = test_data[2].u8[0];
+        in_stop  = test_data[2].u8[1];
+        if (last_state != in_state) {
+            bt_printf("changing to%u\r\n",in_state);
+        }
+        last_state = in_state;
     }
 }
diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c
index 1fc0bdc..69a76f1 100644
--- a/app/page/page_dparam.c
+++ b/app/page/page_dparam.c
@@ -42,8 +42,10 @@ static void Exit()
  */
 static void Loop()
 {
-    ips200_show_string(0, 20, "outsp:");
-    ips200_show_float(80, 20, out_speed, 4, 1);
+    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, 40, "angle");
     ips200_show_float(80, 40, in_angle, 4, 1);
     ips200_show_string(0, 60, "near");
@@ -59,14 +61,14 @@ static void Loop()
     ips200_show_string(0, 160, "outpos");
     ips200_show_float(80, 160, out_pos, 4, 1);
 
-    ips200_show_string(0, 180, "ls");
-    ips200_show_float(80, 180, pwm_duty_ls, 4, 1);
-    ips200_show_string(0, 200, "rs");
-    ips200_show_float(80, 200, pwm_duty_rs, 4, 1);
-    ips200_show_string(0, 220, "lb");
-    ips200_show_float(80, 220, pwm_duty_lb, 4, 1);
-    ips200_show_string(100, 0, "rb");
-    ips200_show_float(180, 0, pwm_duty_rb, 4, 1);
+    // ips200_show_string(0, 180, "ls");
+    // ips200_show_float(80, 180, pwm_duty_ls, 4, 1);
+    // ips200_show_string(0, 200, "rs");
+    // ips200_show_float(80, 200, pwm_duty_rs, 4, 1);
+    // ips200_show_string(0, 220, "lb");
+    // ips200_show_float(80, 220, pwm_duty_lb, 4, 1);
+    // ips200_show_string(100, 0, "rb");
+    // ips200_show_float(180, 0, pwm_duty_rb, 4, 1);
 }
 /**
  * @brief  页面事件