diff --git a/gps_load_now.txt b/gps_load_now.txt
index 098209b..1a2ed80 100644
--- a/gps_load_now.txt
+++ b/gps_load_now.txt
@@ -1,292 +1,2976 @@
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diff --git a/routes/gps_load_1769663101074.txt b/routes/gps_load_1769663101074.txt
new file mode 100644
index 0000000..e69de29
diff --git a/routes/gps_load_1769663889258.txt b/routes/gps_load_1769663889258.txt
new file mode 100644
index 0000000..2f5eaa1
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diff --git a/routes/gps_load_1769673831859.txt b/routes/gps_load_1769673831859.txt
new file mode 100644
index 0000000..2c92f4f
--- /dev/null
+++ b/routes/gps_load_1769673831859.txt
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diff --git a/routes/gps_load_1769674440790.txt b/routes/gps_load_1769674440790.txt
new file mode 100644
index 0000000..1a2ed80
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diff --git a/src/control/radio_ctrl/src/radio_ctrl.cpp b/src/control/radio_ctrl/src/radio_ctrl.cpp
index 82a4867..228d814 100644
--- a/src/control/radio_ctrl/src/radio_ctrl.cpp
+++ b/src/control/radio_ctrl/src/radio_ctrl.cpp
@@ -97,7 +97,7 @@ class SBUSNode : public rclcpp::Node
             }
 
             // 油门 / 刹车逻辑
-            if (speed < 0)
+            if (speed <= 0)
             {
                 msg.brake = 1;
                 msg.rpm = 0;
@@ -138,33 +138,34 @@ class SBUSNode : public rclcpp::Node
             // 发布控制消息
             pub_->publish(msg);
 
-            // 降低打印频率：每 PRINT_INTERVAL 次回调打印一次
-            // if (++print_counter >= PRINT_INTERVAL)
-            // {
-            //     LOG_INFO("\n=====================================")
-            //               << "\n  刹车: " << (msg.brake ? "已刹车" : "未刹车")
-            //               << "\n  挡位: ";
-            //     switch (msg.gear)
-            //     {
-            //     case 0:
-            //         LOG_INFO("空挡");
-            //         break;
-            //     case 2:
-            //         LOG_INFO("前进挡");
-            //         break;
-            //     case 1:
-            //         LOG_INFO("后退挡");
-            //         break;
-            //     default:
-            //         LOG_INFO("未知挡位(%d)", static_cast<int>(msg.gear));
-            //         break;
-            //     }
-            //     LOG_INFO("\n  行走电机转速: %d RPM", static_cast<int>(msg.rpm));
-            //               << "\n  轮端转向角度: " << msg.angle << "°"
-            //               << "\n  清扫状态: " << (msg.sweep ? "正在清扫" : "未清扫")
-            //               << "\n=====================================" << std::endl;
-            //     print_counter = 0; // 重置计数器
-            // }
+            if (++print_counter >= PRINT_INTERVAL)
+            {
+                LOG_INFO(
+                    "=====================================\n"
+                    "  刹车: %s\n"
+                    "  挡位: %s\n"
+                    "  行走电机转速: %d RPM\n"
+                    "  轮端转向角度: %.1f °\n"
+                    "  清扫状态: %s\n"
+                    "=====================================",
+                    msg.brake ? "已刹车" : "未刹车",
+                    [&]()
+                    {
+                        switch (msg.gear)
+                        {
+                            case 0:
+                                return "空挡";
+                            case 1:
+                                return "后退挡";
+                            case 2:
+                                return "前进挡";
+                            default:
+                                return "未知挡位";
+                        }
+                    }(),
+                    static_cast<int>(msg.rpm), msg.angle, msg.sweep ? "正在清扫" : "未清扫");
+                print_counter = 0;  // 重置计数器
+            }
         }
         else
         {