diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 2c7bfc3..c0a4f25 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -96,8 +96,8 @@ static void SwitchToAutoMode(void)
         return;
 
     /* 同步角度参考值为当前 IMU 角度 */
-    gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
-    gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data.Pitch;
+    gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data->YawTotalAngle;
+    gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data->Pitch;
 
     vision_data.manual_updated = 0; // 清除手动数据残留
     VisionPIDReset();
@@ -110,8 +110,8 @@ static void SwitchToManualMode(void)
     if (current_mode == VISION_MODE_MANUAL)
         return;
 
-    gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
-    gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data.Pitch;
+    gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data->YawTotalAngle;
+    gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data->Pitch;
 
     vision_data.auto_updated = 0; // 清除自动数据残留
     current_mode = VISION_MODE_MANUAL;
@@ -250,8 +250,8 @@ static void ManualModeSet()
         /* 零力子模式 */
         vision_data.manual_updated = 0;
         gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
-        gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
-        gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data.Pitch;
+        gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data->YawTotalAngle;
+        gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data->Pitch;
     }
     else if (vision_data.manual_updated)
     {
@@ -285,16 +285,16 @@ static void EmergencyHandler()
     {
         robot_state = ROBOT_STOP;
         gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
-        gimbal_cmd_send.yaw   = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
-        gimbal_cmd_send.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch;
+        gimbal_cmd_send.yaw   = gimbal_fetch_data.gimbal_imu_data->YawTotalAngle;
+        gimbal_cmd_send.pitch = gimbal_fetch_data.gimbal_imu_data->Pitch;
         laser_off();
     }
 
     if (!switch_is_down(rc_data[TEMP].rc.switch_right) && robot_state == ROBOT_STOP)
     {
         robot_state = ROBOT_READY;
-        gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
-        gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data.Pitch;
+        gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data->YawTotalAngle;
+        gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data->Pitch;
         LOGINFO("[CMD] reinstate, robot ready");
     }
 }
diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index a03a69c..2048fdf 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -5,7 +5,7 @@
 #include "message_center.h"
 #include "general_def.h"
 
-static attitude_t *gimbal_IMU_data;
+static INS_t *gimbal_IMU_data;
 
 static Publisher_t *gimbal_pub;
 static Subscriber_t *gimbal_sub;
@@ -96,6 +96,6 @@ void GimbalTask()
         DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
     }
 
-    gimbal_feedback_data.gimbal_imu_data = *gimbal_IMU_data;
+    gimbal_feedback_data.gimbal_imu_data = gimbal_IMU_data;
     PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
 }
diff --git a/application/robot_def.h b/application/robot_def.h
index 7f16d58..a7fd019 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -57,7 +57,7 @@ typedef struct
 /* ---- gimbal 发布给 CMD 的反馈数据 ---- */
 typedef struct
 {
-    attitude_t gimbal_imu_data;
+    INS_t *gimbal_imu_data;          // 指向 INS 实例的指针
     uint16_t yaw_motor_single_round_angle;
     uint8_t gimbal_power;
 } Gimbal_Upload_Data_s;
diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c
index f53e0cf..8fc1592 100644
--- a/modules/imu/ins_task.c
+++ b/modules/imu/ins_task.c
@@ -77,12 +77,12 @@ static void InitQuaternion(float *init_q4)
         init_q4[i + 1] = axis_rot[i] * sinf(angle / 2.0f); // 轴角公式,第三轴为0(没有z轴分量)
 }
 
-attitude_t *INS_Init(void)
+INS_t *INS_Init(void)
 {
     if (!INS.init)
         INS.init = 1;
     else
-        return (attitude_t *)&INS.Gyro;
+        return &INS;
 
     HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
 
@@ -112,7 +112,7 @@ attitude_t *INS_Init(void)
     // noise of accel is relatively big and of high freq,thus lpf is used
     INS.AccelLPF = 0.0085;
     DWT_GetDeltaT(&INS_DWT_Count);
-    return (attitude_t *)&INS.Gyro; // @todo: 这里偷懒了,不要这样做! 修改INT_t结构体可能会导致异常,待修复.
+    return &INS;
 }
 
 /* 注意以1kHz的频率运行此任务 */
diff --git a/modules/imu/ins_task.h b/modules/imu/ins_task.h
index 4acac19..dbecbe2 100644
--- a/modules/imu/ins_task.h
+++ b/modules/imu/ins_task.h
@@ -25,17 +25,6 @@
 
 #define INS_TASK_PERIOD 1
 
-typedef struct
-{
-    float Gyro[3];  // 角速度
-    float Accel[3]; // 加速度
-    // 还需要增加角速度数据
-    float Roll;
-    float Pitch;
-    float Yaw;
-    float YawTotalAngle;
-} attitude_t; // 最终解算得到的角度,以及yaw转动的总角度(方便多圈控制)
-
 typedef struct
 {
     float q[4]; // 四元数估计值
@@ -82,7 +71,7 @@ typedef struct
  * @brief 初始化惯导解算系统
  *
  */
-attitude_t *INS_Init(void);
+INS_t *INS_Init(void);
 
 /**
  * @brief 此函数放入实时系统中,以1kHz频率运行
diff --git a/modules/motor/motor_def.h b/modules/motor/motor_def.h
index 1c3b0da..a45e710 100644
--- a/modules/motor/motor_def.h
+++ b/modules/motor/motor_def.h
@@ -3,6 +3,7 @@
 
 #include "controller.h"
 #include "stdint.h"
+#include "bsp_can.h"
 
 #define LIMIT_MIN_MAX(x, min, max) (x) = (((x) <= (min)) ? (min) : (((x) >= (max)) ? (max) : (x)))