diff --git a/src/radio_ctrl/src/radio_ctrl.cpp b/src/radio_ctrl/src/radio_ctrl.cpp
index a23addb..c0b5d02 100644
--- a/src/radio_ctrl/src/radio_ctrl.cpp
+++ b/src/radio_ctrl/src/radio_ctrl.cpp
@@ -62,15 +62,15 @@ private:
         auto msg = mc::msg::McCtrl(); // 控制消息对象
 
         // 获取各通道遥控数据
-        uint16_t ch_data[8];
+        uint16_t ch_data[8] = {};
         // 获取数据安全性
         bool data_safe = uart_handler_->get_data_safe();
-        for (int i = 0; i < 8; ++i)
-        {
-            ch_data[i] = uart_handler_->get_channel_value(i);
-            printf("ch[%d]:%d   ", i, ch_data[i]);
-        }
-        printf("\n");
+        // for (int i = 0; i < 8; ++i)
+        // {
+        //     ch_data[i] = uart_handler_->get_channel_value(i);
+        //     printf("ch[%d]:%d   ", i, ch_data[i]);
+        // }
+        // printf("\n");
         // 是否使能车辆控制
         if (ch_data[6] == 192)
         {
@@ -174,30 +174,6 @@ private:
 
         if (data_safe)
         {
-            RCLCPP_INFO_STREAM(this->get_logger(), "Publishing ControlMsg:"
-                                                       << "\n  mcu_enabled: " << msg.mcu_enabled
-                                                       << "\n  brake: " << static_cast<int>(msg.brake)
-                                                       << "\n  gear: " << static_cast<int>(msg.gear)
-                                                       << "\n  rpm: " << msg.rpm
-                                                       << "\n  brake_time_ms: " << msg.brake_time_ms
-                                                       << "\n  angle: " << msg.angle
-                                                       << "\n  angle_speed: " << msg.angle_speed
-                                                       << "\n  main_brush_lift: " << msg.main_brush_lift
-                                                       << "\n  edge_brush_lift: " << msg.edge_brush_lift
-                                                       << "\n  vacuum: " << msg.vacuum
-                                                       << "\n  spray: " << msg.spray
-                                                       << "\n  mud_flap: " << msg.mud_flap
-                                                       << "\n  dust_shake: " << msg.dust_shake
-                                                       << "\n  left_light: " << msg.left_light
-                                                       << "\n  right_light: " << msg.right_light
-                                                       << "\n  night_light: " << msg.night_light
-                                                       << "\n  brake_light: " << msg.brake_light
-                                                       << "\n  headlight: " << msg.headlight
-                                                       << "\n  main_brush_spin: " << msg.main_brush_spin
-                                                       << "\n  edge_brush_spin: " << msg.edge_brush_spin
-                                                       << "\n  main_brush_pwm: " << static_cast<int>(msg.main_brush_pwm)
-                                                       << "\n  edge_brush_pwm: " << static_cast<int>(msg.edge_brush_pwm));
-
             pub_->publish(msg); // 发布控制消息
         }
     }
diff --git a/src/radio_ctrl/src/uart_handler.cpp b/src/radio_ctrl/src/uart_handler.cpp
index 5d7920d..087d468 100644
--- a/src/radio_ctrl/src/uart_handler.cpp
+++ b/src/radio_ctrl/src/uart_handler.cpp
@@ -30,7 +30,7 @@ struct termios2
 
 // 构造函数
 UartHandler::UartHandler(const std::string &device, int baudrate)
-    : serial_device(device), baudrate(baudrate), fd(-1), failsafe_status(SBUS_SIGNAL_OK)
+    : serial_device(device), baudrate(baudrate), fd(-1), failsafe_status(SBUS_SIGNAL_LOST)
 {
     std::fill(std::begin(sbus_channels), std::end(sbus_channels), 0); // 初始化通道数据
 }
@@ -108,28 +108,32 @@ void UartHandler::stop_reading()
 void UartHandler::read_loop()
 {
     uint8_t buf[512];
+    auto last_receive_time = std::chrono::steady_clock::now();
+
     while (reading)
     {
         int n = read(fd, buf, sizeof(buf));
         if (n > 0)
         {
+            last_receive_time = std::chrono::steady_clock::now();
             parse_data(buf, n);
         }
-        else if (n == 0)
+        else if (n == 0 || (n < 0 && errno == EAGAIN))
         {
+            // 检查超时
+            auto now = std::chrono::steady_clock::now();
+            if (std::chrono::duration_cast<std::chrono::seconds>(now - last_receive_time).count() > 2) // 超过2秒没数据
+            {
+                failsafe_status = SBUS_SIGNAL_LOST;
+            }
             usleep(1000);
         }
         else
         {
-            if (errno == EAGAIN)
-            {
-                usleep(1000);
-            }
-            else
-            {
-                perror("read");
-                break;
-            }
+            perror("read error, but will continue");
+            // 不退出，短暂休眠后继续尝试
+            usleep(1000);
+            continue;
         }
     }
 }
@@ -160,13 +164,14 @@ void UartHandler::parse_data(uint8_t *buf, int len)
         //         std::cout << "\n"; // 每8个换行
         // }
 
-        if (status == SBUS_SIGNAL_LOST)
+        // 只有状态是 OK，才更新 failsafe_status
+        if (status == SBUS_SIGNAL_OK)
         {
-            std::cout << "[Warning] SBUS Signal Lost!\n";
+            failsafe_status = SBUS_SIGNAL_OK;
         }
-        else if (status == SBUS_SIGNAL_FAILSAFE)
+        else
         {
-            std::cout << "[Warning] SBUS Failsafe!\n";
+            failsafe_status = status; // 丢失或故障都记录下来
         }
     }
     else