diff --git a/src/MindVisionMain.cpp b/src/MindVisionMain.cpp
index 0b1a1c6..2bef31b 100644
--- a/src/MindVisionMain.cpp
+++ b/src/MindVisionMain.cpp
@@ -80,7 +80,7 @@ void output_control_data(const cv::Point2f* ballistic_point,
 
         // Calculate offset (based on actual image center)
         float raw_offset_x = -(ballistic_point->x - img_center.x); // yaw error
-        float raw_offset_y = -(img_center.y - ballistic_point->y - 30); // pitch error
+        float raw_offset_y = -(img_center.y - ballistic_point->y ); // pitch error
 
         // Calculate time delta
         static auto last_time = std::chrono::high_resolution_clock::now();
@@ -416,6 +416,17 @@ int main(int /*argc*/, char* /*argv*/[]) {
 
             frame_counter++;
 
+            float area = 0.0; 
+            if (!armor_plates.empty()) {
+            // 获取装甲板配对的第一个灯条
+                const LightBar& light_bar = armor_plates[0].pair.first;
+                // 直接使用灯条的area（即rect_area）赋值
+                area = light_bar.area;
+                // 额外校验：确保灯条面积有效（避免负数/0值）
+                if (area <= 0) {
+                    area = 0.0f;
+                }
+            }
             // Control max frame rate (100 FPS)
             auto end_time = std::chrono::high_resolution_clock::now();
             auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - current_time).count();