diff --git a/run.sh b/run.sh
index 25cffd0..972e2d9 100755
--- a/run.sh
+++ b/run.sh
@@ -16,16 +16,16 @@ sleep 0.2s
 }   &
 sleep 0.2s
 
-{
-	gnome-terminal --title="report" --tab "XXD_ros" -- bash -c "ros2 run mqtt_report mqtt_report_node"
-}  
-sleep 0.2s
+# {
+# 	gnome-terminal --title="report" --tab "XXD_ros" -- bash -c "ros2 run mqtt_report mqtt_report_node"
+# }  
+# sleep 0.2s
 
-{
-	gnome-terminal --title="rtk" --tab "XXD_ros" -- bash -c "ros2 run rtk rtk_node"
-}&
-sleep 0.2s
+# {
+# 	gnome-terminal --title="rtk" --tab "XXD_ros" -- bash -c "ros2 run rtk rtk_node"
+# }&
+# sleep 0.2s
 
-{
-	gnome-terminal --title="pub_gps" --tab "XXD_ros" -- bash -c "ros2 run pub_gps pub_gps_node"
-}
+# {
+# 	gnome-terminal --title="pub_gps" --tab "XXD_ros" -- bash -c "ros2 run pub_gps pub_gps_node"
+# }
diff --git a/src/mc/include/mc/can_struct.h b/src/mc/include/mc/can_struct.h
index 092af32..537025b 100644
--- a/src/mc/include/mc/can_struct.h
+++ b/src/mc/include/mc/can_struct.h
@@ -329,7 +329,7 @@ struct can_VCU_motor2_cmd
     // Byte 7 未使用，保持为0
     void clearByte7()
     {
-        data[7] = 0;
+        data[7] = 100;
     }
 
     CANFrame toFrame() const
diff --git a/src/mc/src/timer_tasks.cpp b/src/mc/src/timer_tasks.cpp
index 0859741..1b94f0c 100644
--- a/src/mc/src/timer_tasks.cpp
+++ b/src/mc/src/timer_tasks.cpp
@@ -70,6 +70,8 @@ void vcuTimerTask(CANDriver &canctl)
     vcu_motor1_cmd.setM3Speed(msg.dust_shake);
     vcu_motor1_cmd.setM4Speed(msg.brush_deck_pusher);
     vcu_motor1_cmd.setM5Speed(msg.suction_squeeqee_pusher);
+    vcu_motor1_cmd.setM6_LED6(100);
+    vcu_motor1_cmd.setM7_LED7(100);
 
     canctl.sendFrame(vcu_motor1_cmd.toFrame());
   }
@@ -79,6 +81,12 @@ void vcuTimerTask(CANDriver &canctl)
   {
     // 喷水电机控制
     vcu_motor2_cmd.setM8_Spray(msg.water_spray);
+    vcu_motor2_cmd.setOUT1_Reserved(100);
+    vcu_motor2_cmd.setOUT2_LED1(100);
+    vcu_motor2_cmd.setOUT3_LED2(100);
+    vcu_motor2_cmd.setOUT4_LED3(100);
+    vcu_motor2_cmd.setOUT5_LED4(100);
+    vcu_motor2_cmd.setOUT6_LED5(100);
 
     canctl.sendFrame(vcu_motor2_cmd.toFrame());
   }
diff --git a/src/radio_ctrl/src/radio_ctrl.cpp b/src/radio_ctrl/src/radio_ctrl.cpp
index 74c7606..c6de8f1 100644
--- a/src/radio_ctrl/src/radio_ctrl.cpp
+++ b/src/radio_ctrl/src/radio_ctrl.cpp
@@ -133,7 +133,7 @@ private:
             }
 
             // 转向逻辑
-            float target_angle = (static_cast<float>(ch_data[0]) - 947) / 800 * EPS_ANGLE_MAX;
+            float target_angle = (static_cast<float>(ch_data[0]) - 992) / 800 * EPS_ANGLE_MAX;
 
             // 角速度（度/秒）
             float angle_speed = fabs(target_angle - current_feedback_angle) / DELTA_T;