diff --git a/src/communication/mqtt_report/src/can/can_decoder.cpp b/src/communication/mqtt_report/src/can/can_decoder.cpp
index 71ff200..d4c9b0b 100644
--- a/src/communication/mqtt_report/src/can/can_decoder.cpp
+++ b/src/communication/mqtt_report/src/can/can_decoder.cpp
@@ -122,6 +122,20 @@ void CanDecoder::handle_mcu_status_2(const sweeperMsg::CanFrame& msg)
     int motorTemp = raw_motor_temp - 30;
     int feedback_gear = (ctrl_status >> 2) & 0x03;
 
+    switch (feedback_gear)
+    {
+        case 1:
+            feedback_gear = 2;  // 原1（错误后退）改为2（正确后退）
+            break;
+        case 2:
+            feedback_gear = 1;  // 原2（错误前进）改为1（正确前进）
+            break;
+        case 0:
+        case 3:
+        default:
+            break;
+    }
+
     {
         std::lock_guard<std::mutex> lock(ctx_.mtx);
         ctx_.info.controllerTemp = controllerTemp;