diff --git a/energy/src/energy/judge/judge_shoot.cpp b/energy/src/energy/judge/judge_shoot.cpp
index cbc2660..bece200 100644
--- a/energy/src/energy/judge/judge_shoot.cpp
+++ b/energy/src/energy/judge/judge_shoot.cpp
@@ -40,5 +40,5 @@ void Energy::judgeShootInGimbal() {
     } else
         shoot = 2;
 
-//    cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl;
+    cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl;
 }
diff --git a/energy/src/energy/send/send.cpp b/energy/src/energy/send/send.cpp
index d35b309..10b77d3 100644
--- a/energy/src/energy/send/send.cpp
+++ b/energy/src/energy/send/send.cpp
@@ -87,7 +87,7 @@ void Energy::sendTarget(Serial &serial, float x, float y, uint16_t z, uint16_t u
     time_t t = time(nullptr);
     if (last_time != t) {
         last_time = t;
-        cout << "fps:" << fps << ", (" << x << "," << y << "," << z << "," << u << ")" << endl;
+        cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl;
         fps = 0;
     }
     fps += 1;
diff --git a/main.cpp b/main.cpp
index 16628bd..9d782a1 100644
--- a/main.cpp
+++ b/main.cpp
@@ -97,7 +97,7 @@ int main(int argc, char *argv[]) {
             if (mcuData.state == BIG_ENERGY_STATE) {//大能量机关模式
                 if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
                     destroyAllWindows();
-                    if(from_camera){
+                    if (from_camera) {
                         delete video_gimbal;
                         video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
                         if (video_gimbal->init()) {
@@ -120,13 +120,13 @@ int main(int argc, char *argv[]) {
                 if (!from_camera) extract(gimbal_src, chassis_src);
                 if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
                 if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
-//                energy.runBig(gimbal_src, chassis_src);
-                    energy.runBig(gimbal_src);
+                energy.runBig(gimbal_src, chassis_src);
+//                energy.runBig(gimbal_src);
                 last_state = mcuData.state;//更新上一帧状态
             } else if (mcuData.state == SMALL_ENERGY_STATE) {
                 if (mcuData.state != SMALL_ENERGY_STATE) {
                     destroyAllWindows();
-                    if(from_camera){
+                    if (from_camera) {
                         delete video_gimbal;
                         video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
                         if (video_gimbal->init()) {
@@ -149,7 +149,7 @@ int main(int argc, char *argv[]) {
             } else {                                         // 自瞄模式
                 if (last_state != ARMOR_STATE) {
                     destroyAllWindows();
-                    if(from_camera){
+                    if (from_camera) {
                         delete video_gimbal;
                         video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
                         if (video_gimbal->init()) {
diff --git a/others/include/config/setconfig.h b/others/include/config/setconfig.h
index 5029e36..7399504 100644
--- a/others/include/config/setconfig.h
+++ b/others/include/config/setconfig.h
@@ -29,7 +29,7 @@
     #define ARMOR_CAMERA_GAIN   (30)
 #endif
 #ifndef ENERGY_CAMERA_GAIN
-    #define ENERGY_CAMERA_GAIN  (20)
+    #define ENERGY_CAMERA_GAIN  (30)
 #endif
 #ifndef AIM_KP
     #define AIM_KP (6)
diff --git a/others/src/additions/additions.cpp b/others/src/additions/additions.cpp
index 29946b2..85c3f38 100644
--- a/others/src/additions/additions.cpp
+++ b/others/src/additions/additions.cpp
@@ -37,7 +37,7 @@ void uartReceive(Serial *pSerial) {
         pSerial->ReadData((uint8_t *) buffer, sizeof(mcuData)+1);
         if (buffer[sizeof(mcuData)] == '\n') {
             memcpy(&mcuData, buffer, sizeof(mcuData));
-//            LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark);
+            LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark);
 //            LOGM("Get yaw: %f, pitch: %f!", mcuData.curr_yaw, mcuData.curr_pitch);
 //            LOGM("Get delta x: %d, delta y: %d!", mcuData.delta_x, mcuData.delta_y);
 //            static int t = time(nullptr);