diff --git a/APP/Device/Device_speed/speed_to_bldc.c b/APP/Device/Device_speed/speed_to_bldc.c
index 913f112..06796c7 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 time, lastTime, horiTime;
+        time = OSTimeGet();
+        horiTime = time - lastTime;
+        if (horiTime < 0) {
+            continue;
+        }
+        lastTime = time;
+
       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;
           
       }
       
@@ -1191,11 +1202,23 @@ static void ptz_vert_pid_task()
                                        g_ptz.vert_pid.hall_h2_count +
                                        g_ptz.vert_pid.hall_h3_count;
       
+        static uint32_t time, lastTime, vertTime;
+        time = OSTimeGet();
+        vertTime = time - lastTime;
+        if (vertTime < 0) {
+            continue;
+        }
+        lastTime = time;
+
       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;
           
       }
       
diff --git a/PROJECT/OS2.ewp b/PROJECT/OS2.ewp
index 1498948..0ee287b 100644
--- a/PROJECT/OS2.ewp
+++ b/PROJECT/OS2.ewp
@@ -74,7 +74,7 @@
                 </option>
                 <option>
                     <name>OGChipSelectEditMenu</name>
-                    <state>GD32F450xE	GD GD32F450xE</state>
+                    <state>GD32F470xE	GigaDevice GD32F470xE</state>
                 </option>
                 <option>
                     <name>GenLowLevelInterface</name>
@@ -120,17 +120,17 @@
                 </option>
                 <option>
                     <name>GFPUDeviceSlave</name>
-                    <state>GD32F450xE	GD GD32F450xE</state>
+                    <state>GD32F470xE	GigaDevice GD32F470xE</state>
                 </option>
                 <option>
                     <name>FPU2</name>
                     <version>0</version>
-                    <state>0</state>
+                    <state>4</state>
                 </option>
                 <option>
                     <name>NrRegs</name>
                     <version>0</version>
-                    <state>0</state>
+                    <state>1</state>
                 </option>
                 <option>
                     <name>NEON</name>
@@ -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>