diff --git a/armor/src/armor_finder/armor_finder.cpp b/armor/src/armor_finder/armor_finder.cpp
index af0d136..7f5bbc6 100644
--- a/armor/src/armor_finder/armor_finder.cpp
+++ b/armor/src/armor_finder/armor_finder.cpp
@@ -15,13 +15,13 @@
 /*                                                                           */
 /*===========================================================================*/
 
-//#define LOG_LEVEL LOG_NONE
-
+#define LOG_LEVEL LOG_NONE
 #include <log.h>
 #include <options/options.h>
 #include <show_images/show_images.h>
 #include <opencv2/highgui.hpp>
 #include <armor_finder/armor_finder.h>
+#include <sys/time.h>
 
 std::map<int, string> id2name = {                               //装甲板id到名称的map
         {-1, "OO"},{ 0, "NO"},
@@ -71,14 +71,14 @@ void ArmorFinder::run(cv::Mat &src) {
                     tracker->init(src_use, armor_box);
                     state = TRACKING_STATE;
                     tracking_cnt = 0;
-//                    LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
+                    LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
                 }
             }
             break;
         case TRACKING_STATE:
             if (!stateTrackingTarget(src_use) || ++tracking_cnt > 100) {    // 最多追踪100帧图像
                 state = SEARCHING_STATE;
-//                LOGM(STR_CTR(WORD_LIGHT_YELLOW, "into search!"));
+                LOGM(STR_CTR(WORD_LIGHT_YELLOW, "into search!"));
             }
             break;
         case STANDBY_STATE:
diff --git a/main.cpp b/main.cpp
index c850577..32fdd94 100644
--- a/main.cpp
+++ b/main.cpp
@@ -27,7 +27,7 @@ using namespace std;
 mcu_data mcuData = {    // 单片机端回传结构体
         0,              // 当前云台yaw角
         0,              // 当前云台pitch角
-        BIG_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
+        ARMOR_STATE,    // 当前状态，自瞄-大符-小符
         0,              // 云台角度标记位
         1,              // 是否启用数字识别
         ENEMY_RED,      // 敌方颜色
@@ -94,28 +94,37 @@ int main(int argc, char *argv[]) {
         do {
             CNT_TIME("Total", {
                 if (mcuData.state == BIG_ENERGY_STATE) {//大符模式
+                    if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大符模式，即刚往完成切换，则需要初始化
+                        energy.setEnergyRotationInit();
+                        ((CameraWrapper*)video_gimble)->changeBrightness(20);
+                        cout << "set" << endl;
+                    }
                     ok = checkReconnect(video_gimble->read(gimble_src), video_chassis->read(chassis_src));//检查有几个摄像头
                     if (save_video) saveVideos(gimble_src, chassis_src);//保存视频
                     if (show_origin) showOrigin(gimble_src, chassis_src);//显示原始图像
-                    if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大符模式，即刚往完成切换，则需要初始化
-                        energy.setEnergyRotationInit();
-                        cout << "set" << endl;
-                    }
                     energy.runBig(gimble_src, chassis_src);//击打大符
 //                    energy.runBig(gimble_src);
                     last_state = mcuData.state;//更新上一帧状态
-                } else if (mcuData.state != BIG_ENERGY_STATE) {//自瞄或小符模式
+                } else if (mcuData.state == SMALL_ENERGY_STATE) {// 小符模式
+                    if(last_state == ARMOR_STATE){
+                        ((CameraWrapper*)video_gimble)->changeBrightness(20);
+                    }
                     last_state = mcuData.state;
                     ok = checkReconnect(video_gimble->read(gimble_src));
                     if (save_video) saveVideos(gimble_src);
                     if (show_origin) showOrigin(gimble_src);
-                    if (mcuData.state == ARMOR_STATE) {
-                        CNT_TIME("Armor Time", {
-                            armorFinder.run(gimble_src);
-                        });
-                    } else if (mcuData.state == SMALL_ENERGY_STATE) {
-                        energy.runSmall(gimble_src);
+                    energy.runSmall(gimble_src);
+                } else {                                         // 自瞄模式
+                    if(last_state != ARMOR_STATE){
+                        ((CameraWrapper*)video_gimble)->changeBrightness(40);
                     }
+                    last_state = mcuData.state;
+                    ok = checkReconnect(video_gimble->read(gimble_src));
+                    if (save_video) saveVideos(gimble_src);
+                    if (show_origin) showOrigin(gimble_src);
+                    CNT_TIME("Armor Time", {
+                            armorFinder.run(gimble_src);
+                    });
                 }
 //                cv::waitKey(0);
             });
diff --git a/others/include/camera/camera_wrapper.h b/others/include/camera/camera_wrapper.h
index 06496a8..37c6fa7 100644
--- a/others/include/camera/camera_wrapper.h
+++ b/others/include/camera/camera_wrapper.h
@@ -47,8 +47,7 @@ public:
     bool read(cv::Mat& src) final;
     bool readRaw(cv::Mat& src);
     bool readProcessed(cv::Mat& src);
-
-
+    bool changeBrightness(int brightness);
 };
 
 
diff --git a/others/src/camera/camera_wrapper.cpp b/others/src/camera/camera_wrapper.cpp
index b6f4cd6..eb328e4 100644
--- a/others/src/camera/camera_wrapper.cpp
+++ b/others/src/camera/camera_wrapper.cpp
@@ -109,6 +109,9 @@ bool CameraWrapper::init() {
     return true;
 }
 
+bool CameraWrapper::changeBrightness(int brightness) {
+    CameraSetAnalogGain(h_camera, brightness);
+}
 
 bool CameraWrapper::read(cv::Mat& src) {
     if(mode==0)return readProcessed(src);