diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/pid.h b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/pid.h
index 5109830..715c7b5 100644
--- a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/pid.h
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/pid.h
@@ -8,7 +8,7 @@ extern float g_Yaw, g_Pitch, g_Roll;     //eular
 #define OUTTER_LOOP_KI 0
 #define OUTTER_LOOP_KD 0
 
-#define INNER_LOOP_KP 0.5f
+#define INNER_LOOP_KP 0.8f
 #define INNER_LOOP_KI 0
 #define INNER_LOOP_KD 0
 
diff --git a/src/main.c b/src/main.c
index c5db261..c05dfe9 100644
--- a/src/main.c
+++ b/src/main.c
@@ -94,8 +94,8 @@ int main() {
         .OutterLast = 0,
         .Feedback = &g_Roll,
         .i = 0,
-        .Channel1 = &MOTOR4,
-        .Channel2 = &MOTOR2,
+        .Channel1 = &MOTOR2,
+        .Channel2 = &MOTOR4,
         .Gyro = &sourceData.gX,
     };