diff --git a/controllers/sunny360vfe_autopilot.slx b/controllers/sunny360vfe_autopilot.slx
index 07f8d0d..d6ceebc 100644
Binary files a/controllers/sunny360vfe_autopilot.slx and b/controllers/sunny360vfe_autopilot.slx differ
diff --git a/controllers/sunny360vfe_params_ctm.xlsx b/controllers/sunny360vfe_params_ctm.xlsx
index b5bc587..c492256 100644
Binary files a/controllers/sunny360vfe_params_ctm.xlsx and b/controllers/sunny360vfe_params_ctm.xlsx differ
diff --git a/doc/parserRec.py b/doc/parserRec.py
index 03a7ff0..dd1b92b 100644
--- a/doc/parserRec.py
+++ b/doc/parserRec.py
@@ -459,7 +459,7 @@ def parseHJ(filename):
                   ],
                  [],
                  ],
-            20: [struct.Struct('<I11f4fB5H12f25H'),
+            20: [struct.Struct('<I11f4fB5H12f12f'),
                  [['boot_time', 0.005, '时间戳', 0],
 
                   ['q_c', 57.3, '俯仰角速度指令(deg/s)', 0],
@@ -500,31 +500,19 @@ def parseHJ(filename):
                   ['rot_lbi', 1, 'rot_lbi(rpm)', 0],
                   ['rot_lbo', 1, 'rot_lbo(rpm)', 0],
 
-                  ['PWM1', 1, 'PWM1', 0],
-                  ['PWM2', 1, 'PWM2', 0],
-                  ['PWM3', 1, 'PWM3', 0],
-                  ['PWM4', 1, 'PWM4', 0],
-                  ['PWM5', 1, 'PWM5', 0],
-                  ['PWM6', 1, 'PWM6', 0],
-                  ['PWM7', 1, 'PWM7', 0],
-                  ['PWM8', 1, 'PWM8', 0],
-                  ['PWM9', 1, 'PWM9', 0],
-                  ['PWM10', 1, 'PWM10', 0],
-                  ['PWM11', 1, 'PWM11', 0],
-                  ['PWM12', 1, 'PWM12', 0],
-                  ['PWM13', 1, 'PWM13', 0],
-                  ['PWM14', 1, 'PWM14', 0],
-                  ['PWM15', 1, 'PWM15', 0],
-                  ['PWM16', 1, 'PWM16', 0],
-                  ['PWM17', 1, 'PWM17', 0],
-                  ['PWM18', 1, 'PWM18', 0],
-                  ['PWM19', 1, 'PWM19', 0],
-                  ['PWM20', 1, 'PWM20', 0],
-                  ['PWM21', 1, 'PWM21', 0],
-                  ['PWM22', 1, 'PWM22', 0],
-                  ['PWM23', 1, 'PWM23', 0],
-                  ['PWM24', 1, 'PWM24', 0],
-                  ['PWM25', 1, 'PWM25', 0],
+                  ['del_c', 1, '左尾翼指令', 0],
+                  ['der_c', 1, '右尾翼指令', 0],
+                  ['dal_c', 1, '左副翼指令', 0],
+                  ['dar_c', 1, '左副翼指令', 0],
+                  ['dfl_c', 1, '左襟翼指令', 0],
+                  ['dfr_c', 1, '左襟翼指令', 0],
+                  ['dfal_c', 1, '左襟副翼指令', 0],
+                  ['dfar_c', 1, '左襟副翼指令', 0],
+                  ['de_stimulus', 1, '升降舵激励', 0],
+                  ['da_stimulus', 1, '副翼激励', 0],
+                  ['dr_stimulus', 1, '方向舵激励', 0],
+                  ['df_stimulus', 1, '襟翼激励', 0],
+            
                   ],
                  [],
                  ],
diff --git a/libraries/hpm6750ap_tsp b/libraries/hpm6750ap_tsp
index 7fadbdd..12aa647 160000
--- a/libraries/hpm6750ap_tsp
+++ b/libraries/hpm6750ap_tsp
@@ -1 +1 @@
-Subproject commit 7fadbdd93b39cb82eec35f2757a5f1e450d0f58b
+Subproject commit 12aa647ebd7de67cf1b502dee8a3f337c98602be
diff --git a/mainModels/sunny360vfe_ap.slx b/mainModels/sunny360vfe_ap.slx
index 4abef58..5c66ef5 100644
Binary files a/mainModels/sunny360vfe_ap.slx and b/mainModels/sunny360vfe_ap.slx differ