diff --git a/armor/src/armor_finder/anti_top/anti_top.cpp b/armor/src/armor_finder/anti_top/anti_top.cpp
index 83533ac..f108705 100644
--- a/armor/src/armor_finder/anti_top/anti_top.cpp
+++ b/armor/src/armor_finder/anti_top/anti_top.cpp
@@ -106,6 +106,8 @@ void ArmorFinder::antiTop(double dist_m, double pitch_imu_deg) {
 
     // 5. Check if it's time to fire
     double fly_time_s = BallisticSolver::get_flight_time(dist_m, pitch_imu_deg, MUZZLE_VELOCITY, BALLISTIC_K);
+    double total_delay_s = fly_time_s + SYSTEM_DELAY / 1000.0;
+
     // 核心优化：O(1) 绝对相位耦合算法
     // 原理：子弹必须在装甲板精确到达 Yaw 中心的那一刻撞击
     double T_face = abs((PI / 2.0) / auto_omega); // 陀螺转过一个面的理论耗时
diff --git a/others/include/config/setconfig.h b/others/include/config/setconfig.h
index 7264e94..645469a 100644
--- a/others/include/config/setconfig.h
+++ b/others/include/config/setconfig.h
@@ -90,7 +90,7 @@
 #endif
 
 #ifndef SYSTEM_DELAY
-    #define SYSTEM_DELAY (50.0)
+    #define SYSTEM_DELAY (150.0)
 #endif
 
 // 到此为止