diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/mpu6050.h b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/mpu6050.h
index ee27b23..f79fb89 100644
--- a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/mpu6050.h
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/mpu6050.h
@@ -43,6 +43,8 @@ void delay(volatile unsigned int count);
 #define G_X_OFFSET 4
 #define A_Z_OFFSET 0
 
+#define IMU_ADDRESS 0x68
+#define IMU_CONNECTED (MPU_Sigle_Read(WHO_AM_I)==IMU_ADDRESS)
 
 typedef struct{
     float gX;
diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/mpu6050.c b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/mpu6050.c
index 58e57d9..67009bc 100644
--- a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/mpu6050.c
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/mpu6050.c
@@ -47,14 +47,13 @@ short MPU_GetData(unsigned char REG_Addr) {
 
 void MPU_init() {
     IIC_init();
-    //delay(500);
-    MPU_Sigle_Write(PWR_MGMT_1, 0x00);
-    MPU_Sigle_Write(SMPLRT_DIV, 0x07);
-    MPU_Sigle_Write(CONFIG, 0x06);
-    MPU_Sigle_Write(GYRO_CONFIG, 0x18);
-    MPU_Sigle_Write(ACCEL_CONFIG, 0x01);
-
-    //LED1 = MPU_Sigle_Read(WHO_AM_I) == 0x68?0:1;
+    do {
+        MPU_Sigle_Write(PWR_MGMT_1, 0x00);
+        MPU_Sigle_Write(SMPLRT_DIV, 0x07);
+        MPU_Sigle_Write(CONFIG, 0x06);
+        MPU_Sigle_Write(GYRO_CONFIG, 0x18);
+        MPU_Sigle_Write(ACCEL_CONFIG, 0x01);
+    } while(IMU_CONNECTED);
 }
 
 void MPU6050_getStructData(pSixAxis cache) {
diff --git a/src/main.c b/src/main.c
index a777379..97ffc12 100644
--- a/src/main.c
+++ b/src/main.c
@@ -5,7 +5,6 @@
 #include "motor.h"
 #include "uart.h"
 #include "wifi.h"
-#include "key.h"
 
 #define Kp      100.0f      //比例增益支配率(常量)
 #define Ki      0.002f      //积分增益支配率
@@ -102,7 +101,6 @@ int main() {
 #if defined (DEBUG_PID) || defined (DEBUG_MPU6050_EULER) || defined (DEBUG_MPU6050_SOURCEDATA) || defined (DEBUG_BLDC)
     SixAxis sourceData;
 #endif
-    initLED();
 
 //Brushless motor auto init
 #ifdef DEBUG_BLDC