diff --git a/.vscode/iar-vsc.json b/.vscode/iar-vsc.json
new file mode 100644
index 0000000..c6b2245
--- /dev/null
+++ b/.vscode/iar-vsc.json
@@ -0,0 +1,18 @@
+{
+  "workspace": {
+    "path": "${workspaceFolder}\\Hyt2\\PROJECT\\OS2.eww"
+  },
+  "workspaces": {
+    "${workspaceFolder}\\Hyt2\\PROJECT\\OS2.eww": {
+      "configs": {
+        "${workspaceFolder}\\Hyt2\\PROJECT\\OS2.ewp": "Debug"
+      },
+      "selected": {
+        "path": "${workspaceFolder}\\Hyt2\\PROJECT\\OS2.ewp"
+      }
+    }
+  },
+  "workbench": {
+    "path": "D:\\IAR"
+  }
+}
\ No newline at end of file
diff --git a/Hyt2/APP/Device/Device_speed/speed_to_bldc.c b/Hyt2/APP/Device/Device_speed/speed_to_bldc.c
index 17cf0b9..13112c0 100644
--- a/Hyt2/APP/Device/Device_speed/speed_to_bldc.c
+++ b/Hyt2/APP/Device/Device_speed/speed_to_bldc.c
@@ -1211,13 +1211,13 @@ static void ptz_vert_pid_task()
       }
       lastTime_vert = time_vert;
       
-      if(g_ptz.hori_pid.hall_h123_count >= 2)
+      if(g_ptz.vert_pid.hall_h123_count >= 2)
       {
         // g_ptz.hori_pid.hall_h123_motor_speed = 
         //   60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) / 
         //     (float)PTZ_VERT_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM;
-        g_ptz.hori_pid.hall_h123_motor_speed = 
-          60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) / 
+        g_ptz.vert_pid.hall_h123_motor_speed = 
+          60000.0 * (float)(g_ptz.vert_pid.hall_h123_count/* - 1*/) / 
             (float)vertTime / PTZ_HORI_ONE_CYCLE_HALL_NUM;          
       }