diff --git a/src/radio_ctrl/src/radio_ctrl.cpp b/src/radio_ctrl/src/radio_ctrl.cpp
index 367b302..47de49a 100644
--- a/src/radio_ctrl/src/radio_ctrl.cpp
+++ b/src/radio_ctrl/src/radio_ctrl.cpp
@@ -91,6 +91,12 @@ private:
                 {
                     msg.gear = 1; // R挡
                 }
+                else
+                {
+                    msg.gear = 0;
+                    msg.brake = 1;
+                    msg.rpm = 0;
+                }
 
                 // 油门 / 刹车逻辑
                 if (ch_data[1] <= speed[1])
@@ -123,7 +129,7 @@ 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;