diff --git a/APP/Device/Device_speed/speed_to_bldc.c b/APP/Device/Device_speed/speed_to_bldc.c
index 913f112..d1da705 100644
--- a/APP/Device/Device_speed/speed_to_bldc.c
+++ b/APP/Device/Device_speed/speed_to_bldc.c
@@ -550,11 +550,22 @@ static void ptz_hori_pid_task()
                                        g_ptz.hori_pid.hall_h2_count +
                                        g_ptz.hori_pid.hall_h3_count;
       
+        static uint32_t timeH, lastTimeH, horiTime;
+        timeH = OSTimeGet();
+        horiTime = timeH - lastTimeH;
+        if (horiTime < 0) {
+            continue;
+        }
+        lastTimeH = timeH;
+
       if(g_ptz.hori_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_HORI_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*/) / 
-            (float)PTZ_HORI_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM;
+            (float)horiTime / PTZ_HORI_ONE_CYCLE_HALL_NUM;
           
       }
       
@@ -1191,14 +1202,25 @@ static void ptz_vert_pid_task()
                                        g_ptz.vert_pid.hall_h2_count +
                                        g_ptz.vert_pid.hall_h3_count;
       
+        static uint32_t timeV, lastTimeV, vertTime;
+        timeV = OSTimeGet();
+        vertTime = timeV - lastTimeV;
+        if (vertTime < 0) {
+            continue;
+        }
+        lastTimeV = timeV;
+
       if(g_ptz.vert_pid.hall_h123_count >= 2)
       {
+        // g_ptz.vert_pid.hall_h123_motor_speed = 
+        //   60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) / 
+        //     (float)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM;
+
         g_ptz.vert_pid.hall_h123_motor_speed = 
           60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) / 
-            (float)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM;
+            (float)vertTime / PTZ_VERT_ONE_CYCLE_HALL_NUM;
           
       }
-      
       g_ptz.vert_motor_speed_hall_actual = g_ptz.vert_pid.hall_h123_motor_speed;
       
       /* ********************************** */
diff --git a/BSP/Driver/usart/Usart.c b/BSP/Driver/usart/Usart.c
index 2d19e5f..ff6f9ee 100644
--- a/BSP/Driver/usart/Usart.c
+++ b/BSP/Driver/usart/Usart.c
@@ -237,7 +237,7 @@ void ptz_uart_dev_send(device_handle device, void *data, int len)
    if(device == uart_485_handle)
    {
      PTZ_UART_485_TX;
-     OSTimeDlyHMSM(0u, 0u, 0u, 10u);
+     OSTimeDlyHMSM(0u, 0u, 0u, 1u);
    
      for (int i = 0; i<len; i++)
      {
@@ -254,7 +254,7 @@ void ptz_uart_dev_send(device_handle device, void *data, int len)
        }
      }
     
-     OSTimeDlyHMSM(0u, 0u, 0u, 10u);
+     OSTimeDlyHMSM(0u, 0u, 0u, 1u);
      PTZ_UART_485_RX;
    }