diff --git a/armor/src/armor_finder/anti_top/anti_top.cpp b/armor/src/armor_finder/anti_top/anti_top.cpp
index 97a1feb..67e79e4 100644
--- a/armor/src/armor_finder/anti_top/anti_top.cpp
+++ b/armor/src/armor_finder/anti_top/anti_top.cpp
@@ -38,6 +38,14 @@ void ArmorFinder::antiTop() {
     // 通过两次装甲角度为零的时间差计算陀螺旋转周期
     // 根据旋转周期计算下一次装甲出现在角度为零的时间点
     if (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 1.5) {
+        /* PID相关控制 */
+        sum_yaw = sum_pitch = 0;
+        double dx = target_box.rect.x + target_box.rect.width / 2 - IMAGE_CENTER_X;
+        double dy = target_box.rect.y + target_box.rect.height / 2 - IMAGE_CENTER_Y;
+        double yaw = dx;
+        double pitch = dy;
+        /* PID相关控制 */
+        
         auto front_time = getFrontTime(time_seq, angle_seq);
         auto once_periodms = getTimeIntervalms(front_time, last_front_time);
 //        if (abs(once_periodms - top_periodms[-1]) > 50) {
diff --git a/armor/src/armor_finder/armor_finder.cpp b/armor/src/armor_finder/armor_finder.cpp
index 96fd655..245c8ca 100644
--- a/armor/src/armor_finder/armor_finder.cpp
+++ b/armor/src/armor_finder/armor_finder.cpp
@@ -54,7 +54,11 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
         anti_switch_cnt(0),
         classifier(paras_folder),
         contour_area(0),
-        tracking_cnt(0) {
+        tracking_cnt(0),
+        last_yaw(0), 
+        last_pitch(0), 
+        sum_yaw(0), 
+        sum_pitch(0) {
 }
 
 void ArmorFinder::run(cv::Mat &src) {
@@ -75,6 +79,9 @@ void ArmorFinder::run(cv::Mat &src) {
                     tracker->init(src, target_box.rect);
                     state = TRACKING_STATE;
                     tracking_cnt = 0;
+                    last_yaw = target_box.rect.x + target_box.rect.width / 2 - IMAGE_CENTER_X;
+                    last_pitch = target_box.rect.y + target_box.rect.height / 2 - IMAGE_CENTER_Y;
+                    sum_yaw = sum_pitch = 0;
                     LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
                 }
             }
@@ -82,6 +89,8 @@ void ArmorFinder::run(cv::Mat &src) {
         case TRACKING_STATE:
             if (!stateTrackingTarget(src) || ++tracking_cnt > 100) {    // 最多追踪100帧图像
                 state = SEARCHING_STATE;
+                last_yaw = last_pitch = 0;
+                sum_yaw = sum_pitch = 0;
                 LOGM(STR_CTR(WORD_LIGHT_YELLOW, "into search!"));
             }
             break;
@@ -93,6 +102,11 @@ end:
     if(is_anti_top) { // 判断当前是否为反陀螺模式
         antiTop();
     }else if(target_box.rect != cv::Rect2d()) {
+        if(last_box.rect == cv::Rect2d()) { // 如果上一帧没有目标装甲板
+            sum_yaw = sum_pitch = 0;
+            last_yaw = target_box.rect.x + target_box.rect.width / 2 - IMAGE_CENTER_X;
+            last_pitch = target_box.rect.y + target_box.rect.height / 2 - IMAGE_CENTER_Y;
+        }
         anti_top_cnt = 0;
         time_seq.clear();
         angle_seq.clear();
diff --git a/main.cpp b/main.cpp
index 13c9dc3..52ce99b 100644
--- a/main.cpp
+++ b/main.cpp
@@ -44,7 +44,9 @@ WrapperHead *video = nullptr;    // 云台摄像头视频源
 Serial serial(115200);                  // 串口对象
 uint8_t last_state = ARMOR_STATE;     // 上次状态，用于初始化
 // 自瞄主程序对象
-ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.anti_top);
+uint8_t enemy_color = ENEMY_BLUE;//RED ro BLUE
+uint8_t forced_anti_top = 1;
+ArmorFinder armor_finder(enemy_color, serial, PROJECT_DIR"/tools/para/", forced_anti_top);
 // 能量机关主程序对象
 Energy energy(serial, mcu_data.enemy_color);
 
diff --git a/others/include/camera/camera_define.h b/others/include/camera/camera_define.h
index 1f56316..101fe3b 100644
--- a/others/include/camera/camera_define.h
+++ b/others/include/camera/camera_define.h
@@ -662,4 +662,4 @@ typedef void (*CAMERA_PAGE_MSG_PROC)(CameraHandle hCamera,UINT MSG,UINT uParam,P
 #define CAMERA_MEDIA_TYPE_RGB16_PLANAR       (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0024)
 
 
-#endif
\ No newline at end of file
+#endif