diff --git a/app/by_frame.c b/app/by_frame.c
index 6e399ef..ea3ed2c 100644
--- a/app/by_frame.c
+++ b/app/by_frame.c
@@ -16,7 +16,7 @@ void by_frame_init(void)
 {
     lwrb_init(&lwrb_ctx, frame_buffer_recv, sizeof(frame_buffer_recv)); // lwrb 最大元素数量为 buff 大小减一
     uart_init(BY_FRAME_UART_INDEX, BY_FRAME_UART_BAUDRATE, BY_FRAME_UART_TX_PIN, BY_FRAME_UART_RX_PIN);
-    uart_rx_interrupt(BY_FRAME_UART_INDEX, ENABLE);
+   // uart_rx_interrupt(BY_FRAME_UART_INDEX, ENABLE);
 }
 
 void by_frame_send(uint32_t *data_array)
diff --git a/app/gl_get_corners.c b/app/gl_get_corners.c
index 6e150fa..c2339bb 100644
--- a/app/gl_get_corners.c
+++ b/app/gl_get_corners.c
@@ -14,7 +14,7 @@ void get_corners()
         int im1    = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
         int ip1    = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
         float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
-
+        ips114_show_float(120, 80, conf, 3, 4);
         // L 角点阈值
         if (Lpt0_found == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
             Lpt0_rpts0s_id = i;
@@ -22,20 +22,20 @@ void get_corners()
             // transform(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],&Lpt0[1],&Lpt0[0]);    //待优化，是否用到，无用则删
         }
         // 长直道阈值
-        if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) {
+        if (conf > (6. / 180. * PI32) && i < 1.2 / RESAMPLEDIST) {
             is_straight0 = false;
         }
         if (Lpt0_found == true && is_straight0 == false) break;
     }
 
-    if (is_straight0 == false && Lpt0_found == false)
+    if (Lpt0_found == false)
     {
         is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05);
     }
-    if (is_turn0)
-    {
-        state_type = TURN_LEFT_STATE;
-    }
+    //if (is_turn0)
+    //{
+        //state_type = TURN_LEFT_STATE;
+    //}
     
 
 
@@ -67,6 +67,7 @@ void get_corners()
         int im1    = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
         int ip1    = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
         float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2;
+        ips114_show_float(100, 100, conf, 3, 4);
 
         if (Lpt1_found == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
             Lpt1_rpts1s_id = i;
@@ -74,7 +75,7 @@ void get_corners()
             // transform(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],&Lpt1[1],&Lpt1[0]);
         }
 
-        if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) is_straight1 = false;
+        if (conf > (6. / 180. * PI32) && i < 1.2 / RESAMPLEDIST) is_straight1 = false;
         if (Lpt1_found == true && is_straight1 == false) break;
     }
 
@@ -82,7 +83,7 @@ void get_corners()
         state_type = STRAIGHT_STATE;
     }
 
-    if (is_straight1 == false && Lpt1_found == false)
+    if (Lpt1_found == false)
     {
         is_turn1 = is_curve(angle_right ,clip(angle_right_num - 10, 0,angle_right_num),0.05);
     }
@@ -107,8 +108,8 @@ void get_corners()
         }
     }
 
-    if (is_turn1)
+    if (is_turn1 && is_turn0)
     {
-        state_type = TURN_RIGHT_STATE;
+        state_type = TURN_LEFT_STATE;
     }
 }
diff --git a/app/gl_handle_img.c b/app/gl_handle_img.c
index 3ffa398..42e1961 100644
--- a/app/gl_handle_img.c
+++ b/app/gl_handle_img.c
@@ -228,8 +228,8 @@ void GetMidLine_Right(float pts_right[][2], int32_t pts_right_count, float mid_r
 
 int is_curve(float angle[], int n, float threshold) {
     for (int i = 1; i < n - 1; i++) {
-        float da = fabs(angle[i] - angle[i-1]);
-        float db = fabs(angle[i+1] - angle[i]);
+        float da = fabs(angle[i] - angle[i-3]);
+        float db = fabs(angle[i+3] - angle[i]);
         if (da > threshold && db > threshold) {
             return 1; // 是弯道
         }