diff --git a/dev/application/vehicles/hero/can_motor_config.cpp b/dev/application/vehicles/hero/can_motor_config.cpp
index 09490aef..a08999ec 100644
--- a/dev/application/vehicles/hero/can_motor_config.cpp
+++ b/dev/application/vehicles/hero/can_motor_config.cpp
@@ -9,8 +9,8 @@ CANMotorBase CANMotorCFG::CANMotorProfile[MOTOR_COUNT] = {
         {CANMotorBase::can_channel_2, 0x201, CANMotorBase::M3508, 3572},//Front Right
         {CANMotorBase::can_channel_2, 0x204, CANMotorBase::M3508, 3572},//Back Right
         {CANMotorBase::can_channel_2, 0x203, CANMotorBase::M3508, 3572},//Back Left
-        {CANMotorBase::can_channel_2, 0x208, CANMotorBase::GM6020, 1994},//Yaw
-        {CANMotorBase::can_channel_1, 0x205, CANMotorBase::GM6020, 3301},//PITCH 侧面的6020
+        {CANMotorBase::can_channel_2, 0x208, CANMotorBase::GM6020, 70},//Yaw
+        {CANMotorBase::can_channel_1, 0x205, CANMotorBase::GM6020, 3208},//PITCH 侧面的6020
         {CANMotorBase::can_channel_1, 0x201, CANMotorBase::M3508_without_deceleration, 3344},
         {CANMotorBase::can_channel_2, 0x206, CANMotorBase::M3508, 3572}, //Bullet Loader
         {CANMotorBase::can_channel_1, 0x203, CANMotorBase::M3508_without_deceleration, 3572},//FW_UP(左边)
@@ -22,8 +22,8 @@ PIDController::pid_params_t CANMotorCFG::a2vParams[MOTOR_COUNT] = {
         {10, 0.0f, 0.2, 100, 500},
         {10, 0.0f, 0.2, 100, 500},
         {10, 0.0f, 0.2, 100, 500},
-        {10, 0.0f, 0.1, 70,  90},
-        {40., 1.0f, 0.1, 100, 200},
+        {15, 0.02f, 0.1, 70,  150},
+        {40., 0.1f, 0.1f, 100, 200},
         {10, 0.0f, 0.2, 100, 500},
         {50, 0.0f, 0.18, 100, 250},//Bullet Loader temprarily to 2.5x to surpass the friction
         {10, 0.0f, 0.2, 100, 500},
@@ -35,7 +35,7 @@ PIDController::pid_params_t CANMotorCFG::v2iParams[MOTOR_COUNT] = {
         {26.0f,0.1f,0.02f,2000.0,6000.0},
         {26.0f,0.1f,0.02f,2000.0,6000.0},
         {26.0f,0.1f,0.02f,2000.0,6000.0},
-        {50.0f,  0.0f, 0.0f, 5000.0f, 15000.0f},
+        {35.0f,  1.0f, 1.0f, 5000.0f, 15000.0f},
         { 35.f, 1.f, 0.00f, 5000.0f, 15000.0f},
         {26.0f, 0.1f, 0.02f, 2000.0f, 6000.0f},
         {35.0f, 2.1f, 0.0f, 3000.0f, 16383.0f},//Bullet Loader