diff a/APP/Device/Device_speed/speed_to_bldc.c b/APP/Device/Device_speed/speed_to_bldc.c	(rejected hunks)
@@ -112,7 +112,7 @@
   //��������
   H_IIncPid = g_ptz.hori_pid.A * H_IError + g_ptz.hori_pid.B * g_ptz.hori_pid.LastError + g_ptz.hori_pid.C * g_ptz.hori_pid.PrevError;
 
-    // H_IIncPid = PTZ_HORI_PID_HORI_KP;
+    // H_IIncPid = PTZ_HORI_PID_HORI_KP * (H_IError - g_ptz.hori_pid.LastError) + PTZ_HORI_PID_HORI_TI * H_IError;
 
   
   //�洢�������´μ���