diff --git a/src/mc/src/mc.cpp b/src/mc/src/mc.cpp
index 377d480..bd9af7c 100644
--- a/src/mc/src/mc.cpp
+++ b/src/mc/src/mc.cpp
@@ -229,9 +229,8 @@ void setupTimers(rclcpp::Node::SharedPtr node)
         vcu2_cmd.setSpray(msg.spray);
         vcu2_cmd.setSweeepCtrl(msg.sweep_ctrl);
 
-        // canctl.sendFrame(vcu1_cmd.toFrame());
-        // canctl.sendFrame(vcu2_cmd.toFrame());
-      });
+        canctl.sendFrame(vcu1_cmd.toFrame());
+        canctl.sendFrame(vcu2_cmd.toFrame()); });
 }
 
 int main(int argc, char **argv)
diff --git a/src/radio_ctrl/src/radio_ctrl.cpp b/src/radio_ctrl/src/radio_ctrl.cpp
index c3017d7..b87bfe3 100644
--- a/src/radio_ctrl/src/radio_ctrl.cpp
+++ b/src/radio_ctrl/src/radio_ctrl.cpp
@@ -8,7 +8,8 @@
 
 namespace sweeperMsg = sweeper_interfaces::msg;
 
-constexpr float EPS_GEAR_RATIO = 16.5f;
+constexpr float DEG_PER_SEC_TO_RPM = 1.0f / 6.0f;
+constexpr float GEAR_RATIO = 7.0f;
 constexpr float DELTA_T = 0.02f; // 20ms
 const uint16_t speed[3] = {192, 992, 1792};
 
@@ -90,17 +91,26 @@ private:
                 {
                     msg.gear = 1; // R挡
                 }
-
-                // 油门 / 刹车逻辑
-                if (ch_data[1] <= speed[1])
+                else
                 {
+                    msg.gear = 0;
                     msg.brake = 1;
                     msg.rpm = 0;
                 }
-                else
+
+                if (ch_data[7] != 992)
                 {
-                    msg.brake = 0;
-                    msg.rpm = static_cast<uint8_t>(MCU_RPM_MAX * (ch_data[1] - speed[1]) / (speed[2] - speed[1]));
+                    // 油门 / 刹车逻辑
+                    if (ch_data[1] <= speed[1])
+                    {
+                        msg.brake = 1;
+                        msg.rpm = 0;
+                    }
+                    else
+                    {
+                        msg.brake = 0;
+                        msg.rpm = static_cast<uint8_t>(MCU_RPM_MAX * (ch_data[1] - speed[1]) / (speed[2] - speed[1]));
+                    }
                 }
 
                 // 一键清扫
@@ -122,13 +132,13 @@ private:
                 }
 
                 // 转向逻辑
-                float target_angle = (992 - static_cast<float>(ch_data[3])) / 800 * EPS_ANGLE_MAX;
+                float target_angle = (static_cast<float>(ch_data[3]) - 992) / 800 * EPS_ANGLE_MAX;
 
                 // 角速度（度/秒）
                 float angle_speed = fabs(target_angle - current_feedback_angle) / DELTA_T;
 
                 // 电机转速（单位：rpm）
-                float motor_rpm = angle_speed * EPS_GEAR_RATIO;
+                float motor_rpm = angle_speed * DEG_PER_SEC_TO_RPM * GEAR_RATIO;
 
                 // 限制电机转速到 [120, 1500] 范围，防止过小/过大
                 uint16_t can_speed = std::clamp(