diff --git a/MDK-ARM/controller-v2.uvoptx b/MDK-ARM/controller-v2.uvoptx
index 707886d..0a28dde 100644
--- a/MDK-ARM/controller-v2.uvoptx
+++ b/MDK-ARM/controller-v2.uvoptx
@@ -125,7 +125,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>JL2CM3</Key>
-          <Name>-U601012352 -O14 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC8000 -FN1 -FF0STM32L4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32L476VGTx$CMSIS\Flash\STM32L4xx_1024.FLM)</Name>
+          <Name>-U601012352 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8006 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC8000 -FN1 -FF0STM32L4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32L476VGTx$CMSIS\Flash\STM32L4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -145,7 +145,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U73002200150000504A51544E -O206 -S1 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC8000 -FN1 -FF0STM32L4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32L476VGTx$CMSIS\Flash\STM32L4xx_1024.FLM)</Name>
+          <Name>-U16004A002933353739303541 -O206 -S1 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC8000 -FN1 -FF0STM32L4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32L476VGTx$CMSIS\Flash\STM32L4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -240,6 +240,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>adc_raw,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>16</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>udevice,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <MemoryWindow1>
         <Mm>
diff --git a/User/application/mode/mode.c b/User/application/mode/mode.c
index 4617ffa..0a323ba 100644
--- a/User/application/mode/mode.c
+++ b/User/application/mode/mode.c
@@ -294,8 +294,8 @@ void mode_init(void)
         pdctrl_init(PDCTRL_PWMP);
         break;
     case MODE_FREQUENCY_DOMAIN_CONTROL_ALGORITHM:
-        pdctrl_init(PDCTRL_PWMP);
-        //pdctrl_init(PDCTRL_DAC);
+        //pdctrl_init(PDCTRL_PWMP);
+        pdctrl_init(PDCTRL_DAC);
         mode_pwmp_hd_init(&mode_get()->interface_req, mode_get()->positioner_model, &mode_params.mode_pwmp_hd_params,
                           mode_params_save_cb);
         break;
diff --git a/User/application/mode/mode_pwmp_hd.c b/User/application/mode/mode_pwmp_hd.c
index 41d0b59..032a3d5 100644
--- a/User/application/mode/mode_pwmp_hd.c
+++ b/User/application/mode/mode_pwmp_hd.c
@@ -183,7 +183,7 @@ static float32 get_pwmp_hd_control_kp(void)
 
 static float32 get_pwmp_hd_control_ki(void)
 {
-    return mode_pwmp_hd->pwmp_save->storage.ki < 0.001 ? mode_pwmp_hd->pwmp_save->storage.ki * 20 : 0.01;
+    return mode_pwmp_hd->pwmp_save->storage.ki < 0.001 ? mode_pwmp_hd->pwmp_save->storage.ki * 20 : 0.02;
 }
 
 static float32 get_pwmp_hd_control_kd(void)
@@ -292,11 +292,12 @@ static execute_rsp_hd_t *execute_dac_plan1()
     out = out / 100;
     if (udevice.value_travel_type == TRAVEL_TYPE_STRAIGHT)
     {
+#if 1
         /* 一阶段加权系数*/
-        static float32 index_min_first = 0.5;
-        static float32 index_max_first = 0.5;
+        static float32 index_min_first = 0.3;
+        static float32 index_max_first = 0.4;
         /*二阶段加权系数*/
-        static float32 index_min_second = 0.3;
+        static float32 index_min_second = 0.2;
         static float32 index_max_second = 0.3;
         if (fabs(mode_pwmp_hd->control.real_error) >= 5.7)
         {                                                                                                                                                                                     // 对PID输出结果进行归一化处理
@@ -313,6 +314,23 @@ static execute_rsp_hd_t *execute_dac_plan1()
             out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
             out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
         }
+#else
+        float32 index = fabs(1 - exp(-(pow(mode_pwmp_hd->control.real_error, 2) - 1)));
+        if (fabs(mode_pwmp_hd->control.real_error) >= 1)
+        {
+            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index); // 映射实际控制器的范围
+            out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index;
+        }
+        else if (fabs(mode_pwmp_hd->control.real_error) > 0.99 && fabs(mode_pwmp_hd->control.real_error) < 1)
+        {
+            out = mode_pwmp_hd->pwmp_save->storage.startup_value;
+        }
+        else if (fabs(mode_pwmp_hd->control.real_error) <= 0.99)
+        {
+            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
+            out += (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin);
+        }
+#endif
     }
     else if (udevice.value_travel_type == TRAVEL_TYPE_ANGULAR)
     {
@@ -352,7 +370,7 @@ static execute_rsp_hd_t *execute_dac_plan1()
         {
             out = mode_pwmp_hd->pwmp_save->storage.startup_value;
         }
-        else if (fabs(mode_pwmp_hd->control.real_error) < 1)
+        else if (fabs(mode_pwmp_hd->control.real_error) <= 0.99)
         {
             out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
             out += (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin);
@@ -546,6 +564,7 @@ static void pwmp_adjust_hd_rough_position0(uint8_t *state, mode_pwmp_hd_adjust_s
                 mode_pwmp_hd_adjust->arr_record_1 = mode_pwmp_hd_adjust->arr_last > 1000 ? mode_pwmp_hd_adjust->arr_last * 0.9 : mode_pwmp_hd_adjust->arr_last;
                 /*判断位置反馈磁条是正装还是反装*/
                 mode_pwmp_hd_adjust->adc_0_100_flag = mode_pwmp_hd_adjust->adc_record_0 < current_adc ? TRUE : FALSE;
+                mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_record_1;
             }
             mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 50;
             *state = next_state;
@@ -935,7 +954,7 @@ static void pwmp_adjust_hd_accurate_position100(uint8_t *state, mode_pwmp_hd_adj
                 else
                 {
                     /*40mm————30；16mm————40*/
-                    mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 30;
+                    mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 10;
                 }
                 mode_pwmp_hd_adjust->last_adc = mode_pwmp_hd_adjust->psb_adc;
                 mode_pwmp_hd_adjust->arr_last = mode_pwmp_hd_adjust->arr_current;
@@ -1362,8 +1381,9 @@ void pwmp_adjust(uint8_t *state)
         pwmp_adjust_hd_initiate_position0(state, PWMP_HD_ADJUST_ROUGH_POSITION100);
         break;
     case PWMP_HD_ADJUST_ROUGH_POSITION100:
-        pwmp_adjust_hd_rough_position100(state, PWMP_HD_ADJUST_BLEEDING_POSITION0);
+        pwmp_adjust_hd_rough_position100(state, PWMP_HD_ADJUST_ACCURATE_POSITION100);
         break;
+    /*暂时先跳过PWMP_HD_ADJUST_BLEEDING_POSITION0*/
     case PWMP_HD_ADJUST_BLEEDING_POSITION0:
         pwmp_adjust_hd_bleeding_position0(state, PWMP_HD_ADJUST_ACCURATE_POSITION100);
         break;
@@ -1879,7 +1899,8 @@ void mode_pwmp_hd_init(mode_interface_req_t *req, uint16_t positioner_model, mod
     /*PID初始化*/
     execute_pid_init(EXECUTE_PLAN);
     /*计数最大值*/
-    mode_pwmp_hd->wait_count_max = 100 / ((MODE_DEFAULT_AUTOLOAD + 1) * 0.1); // （=10，每减一消耗10ms，总消耗时间100ms）
+    // mode_pwmp_hd->wait_count_max = 100 / ((MODE_DEFAULT_AUTOLOAD + 1) * 0.1); // （=10，每减一消耗10ms，总消耗时间100ms）
+    mode_pwmp_hd->wait_count_max = 2; // （每减一耗时50ms，共100ms）
     /*保存参数*/
     mode_pwmp_hd->params_save_cb();
 
diff --git a/User/application/mode/mode_pwmp_hd.h b/User/application/mode/mode_pwmp_hd.h
index a00485a..596cbc5 100644
--- a/User/application/mode/mode_pwmp_hd.h
+++ b/User/application/mode/mode_pwmp_hd.h
@@ -3,7 +3,7 @@
 #include "main.h"
 
 #define MODE_DEFAULT_AUTOLOAD 99 // 预分频系数
-#define WAIT_COUNT_MAX 10        // 蓝牙等待最大次数
+#define WAIT_COUNT_MAX 2        // 蓝牙等待最大次数
 
 #define VIP_H_EN_HD 1 // 高电压输出开关
 ///////////////////////////////////////*算法整定部分宏定义BEGIN*////////////////////////////////////////
diff --git a/User/application/src/params.c b/User/application/src/params.c
index 50f9fcc..8299162 100644
--- a/User/application/src/params.c
+++ b/User/application/src/params.c
@@ -144,7 +144,7 @@ void params_restart(void)
     // 执行机构行程类型：直行程/角行程   TRAVEL_TYPE_STRAIGHT/TRAVEL_TYPE_ANGULAR
     udevice.value_travel_type = TRAVEL_TYPE_STRAIGHT;
     // 执行机构气动类型：气开/气关   ATO/ATC
-    udevice.value_action_type = ATC;
+    udevice.value_action_type = ATO;
     // 执行机构作用类型：单作用/双作用
     udevice.value_relay_type = VALVE_ACTING_SINGLE;
 
@@ -333,8 +333,12 @@ void params_restart(void)
 
     /*************************************** 校准参数 ***************************************/
     // 回路电流
+    /*GPS3000*/
     calib_param[CALIBPARA_LOOP].value[0] = 0.611153543;
     calib_param[CALIBPARA_LOOP].value[1] = 2.1390624;
+
+    /*GPS2000*/
+    
     // // 回路电流
     // calib_param[CALIBPARA_LOOP].value[0] = 0.609059751;
     // calib_param[CALIBPARA_LOOP].value[1] = -0.761328101;
diff --git a/User/entity.h b/User/entity.h
index 3be0491..45ab396 100644
--- a/User/entity.h
+++ b/User/entity.h
@@ -22,7 +22,7 @@
 // 软件版本号  1个字节
 #define SW_VER 0x01
 // 固件版本号  1个字节
-#define FW_VER 0x03
+#define FW_VER 0x05
 
 #define HART_VERSION HART_PROTOCOL_VERSION_7 ///< HART协议版本号
 #define CPU_VREF 2.5f                        ///< CPU基准电压