diff --git a/src/control/ctrl_arbiter/src/ctrl_arbiter.cpp b/src/control/ctrl_arbiter/src/ctrl_arbiter.cpp
index 69038d4..970a057 100644
--- a/src/control/ctrl_arbiter/src/ctrl_arbiter.cpp
+++ b/src/control/ctrl_arbiter/src/ctrl_arbiter.cpp
@@ -64,12 +64,7 @@ private:
             RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 2000, "[ARBITER] Using RADIO control");
             return;
         }
-        if (auto_valid_ && (now - auto_last_time_).nanoseconds() < timeout_ms_ * 1000000)
-        {
-            publisher_->publish(auto_msg_);
-            RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 2000, "[ARBITER] Using AUTO control");
-            return;
-        }
+
         if (remote_valid_ && (now - remote_last_time_).nanoseconds() < timeout_ms_ * 1000000)
         {
             publisher_->publish(remote_msg_);
@@ -77,6 +72,13 @@ private:
             return;
         }
 
+        if (auto_valid_ && (now - auto_last_time_).nanoseconds() < timeout_ms_ * 1000000)
+        {
+            publisher_->publish(auto_msg_);
+            RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 2000, "[ARBITER] Using AUTO control");
+            return;
+        }
+
         // 所有控制源均失联，发布安全默认指令
         sweeperMsg::McCtrl safe_msg;
         safe_msg.brake = 1;