diff --git a/APP/Common/ptz_default_value.h b/APP/Common/ptz_default_value.h
index 0b4b671..bd03bfc 100644
--- a/APP/Common/ptz_default_value.h
+++ b/APP/Common/ptz_default_value.h
@@ -98,11 +98,12 @@
       /**********************************************************/
 
       ///磁编码器和电机之间的减速比
-      #define PTZ_VERT_MOTOR_RATIO    75.0//(50.0 * (52.0 / 35.0))//20.0
+    //   #define PTZ_VERT_MOTOR_RATIO    75.0//(50.0 * (52.0 / 35.0))//20.0
+      #define PTZ_VERT_MOTOR_RATIO    35.15//(50.0 * (52.0 / 35.0))//20.0
       ///磁编码器与云台轴之间的减速比
       #define PTZ_VERT_BIG_GEAR_RATIO 80.0//54.00
       ///垂直总减速比 
-      #define PTZ_VERT_RATIO          6000.0//4011.429//1080.0
+      #define PTZ_VERT_RATIO          2812.0//4011.429//1080.0
       ///垂直电机调速模拟电压最大值
       #define PTZ_VERT_VR_MAX         1999
       ///垂直电机调速模拟电压最小值
@@ -114,11 +115,11 @@
       ///垂直电机最小转速
       #define PTZ_VERT_MOTOR_MIN_SPEED   400.0//600.0
       ///垂直云台最大转速
-      #define PTZ_VERT_MAX_SPEED         0.5//0.74//2.7
+      #define PTZ_VERT_MAX_SPEED         1.0//0.74//2.7
       ///垂直云台最小转速
-      #define PTZ_VERT_MIN_SPEED         0.07//0.1//0.15//0.5
+      #define PTZ_VERT_MIN_SPEED         0.15//0.1//0.15//0.5
       ///垂直云台默认最佳速度
-      #define PTZ_VERT_BEST_SPEED        0.4//0.7//2.0 
+      #define PTZ_VERT_BEST_SPEED        0.75//0.7//2.0 
 
 
       //电机磁极对数
diff --git a/BSP/Driver/full_bridge/full_bridge.c b/BSP/Driver/full_bridge/full_bridge.c
index dda1723..e503915 100644
--- a/BSP/Driver/full_bridge/full_bridge.c
+++ b/BSP/Driver/full_bridge/full_bridge.c
@@ -370,9 +370,9 @@ void h_bldc_six_step()
       if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
       {//电机正转- 1
         
-        h_six_step_commu[H_Hall_state.Hall_value -1]();
-      }else{//电机反转
         h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
+      }else{//电机反转
+        h_six_step_commu[H_Hall_state.Hall_value -1]();
         
       }
       
@@ -397,9 +397,9 @@ void v_bldc_six_step()
     {
       if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
       {//电机正转- 1
-        v_six_step_commu[V_Hall_state.Hall_value -1]();
-      }else{//电机反转
         v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
+      }else{//电机反转
+        v_six_step_commu[V_Hall_state.Hall_value -1]();
       }
       
       
diff --git a/PROJECT/OS2.ewp b/PROJECT/OS2.ewp
index 1498948..0ec3df9 100644
--- a/PROJECT/OS2.ewp
+++ b/PROJECT/OS2.ewp
@@ -740,7 +740,7 @@
             <data>
                 <extensions></extensions>
                 <cmdline></cmdline>
-                <hasPrio>1</hasPrio>
+                <hasPrio>24</hasPrio>
                 <buildSequence>inputOutputBased</buildSequence>
             </data>
         </settings>
@@ -825,7 +825,7 @@
                 </option>
                 <option>
                     <name>IlinkIcfFile</name>
-                    <state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE_APP.icf</state>
+                    <state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE.icf</state>
                 </option>
                 <option>
                     <name>IlinkIcfFileSlave</name>