diff --git a/workspace/src/application_pkg/application_pkg/web_node.py b/workspace/src/application_pkg/application_pkg/web_node.py
index 02abeaf..48c77c6 100755
--- a/workspace/src/application_pkg/application_pkg/web_node.py
+++ b/workspace/src/application_pkg/application_pkg/web_node.py
@@ -35,19 +35,15 @@ class _APIHandler(BaseHTTPRequestHandler):
             data = json.loads(body)
             mode = data.get('mode', '')
         except json.JSONDecodeError:
-            self.send_response(400)
-            self.end_headers()
-            self.wfile.write(b'{"error":"invalid json"}')
+            self._json_response(400, {'code': -1, 'message': 'invalid json'})
             return
 
         valid_modes = ('auto', 'manual', 'debug')
         if mode not in valid_modes:
-            self.send_response(400)
-            self.end_headers()
-            self.wfile.write(
-                f'{{"error":"invalid mode, must be one of {valid_modes}"}}'
-                .encode()
-            )
+            self._json_response(400, {
+                'code': -1,
+                'message': f'unknown mode: {mode}',
+            })
             return
 
         if _mode_publisher is not None:
@@ -55,10 +51,7 @@ class _APIHandler(BaseHTTPRequestHandler):
             msg.data = mode
             _mode_publisher.publish(msg)
 
-        self.send_response(200)
-        self.send_header('Content-type', 'application/json')
-        self.end_headers()
-        self.wfile.write(f'{{"status":"ok","mode":"{mode}"}}'.encode())
+        self._json_response(200, {'code': 0, 'message': 'ok'})
 
     def _handle_laser(self):
         content_length = int(self.headers.get('Content-Length', 0))
@@ -67,9 +60,7 @@ class _APIHandler(BaseHTTPRequestHandler):
             data = json.loads(body)
             action = data.get('action', '')
         except json.JSONDecodeError:
-            self.send_response(400)
-            self.end_headers()
-            self.wfile.write(b'{"error":"invalid json"}')
+            self._json_response(400, {'code': -1, 'message': 'invalid json'})
             return
 
         if action == 'on':
@@ -77,9 +68,10 @@ class _APIHandler(BaseHTTPRequestHandler):
         elif action == 'off':
             mode = 'laser_off'
         else:
-            self.send_response(400)
-            self.end_headers()
-            self.wfile.write(b'{"error":"action must be on or off"}')
+            self._json_response(400, {
+                'code': -1,
+                'message': 'action must be on or off',
+            })
             return
 
         if _mode_publisher is not None:
@@ -87,10 +79,13 @@ class _APIHandler(BaseHTTPRequestHandler):
             msg.data = mode
             _mode_publisher.publish(msg)
 
-        self.send_response(200)
+        self._json_response(200, {'code': 0, 'message': 'ok'})
+
+    def _json_response(self, status, data):
+        self.send_response(status)
         self.send_header('Content-type', 'application/json')
         self.end_headers()
-        self.wfile.write(f'{{"status":"ok","laser":"{action}"}}'.encode())
+        self.wfile.write(json.dumps(data).encode())
 
     def handle_error(self, request, client_address):
         pass
diff --git a/workspace/src/gimbal_control_pkg/gimbal_control_pkg/gimbal_node.py b/workspace/src/gimbal_control_pkg/gimbal_control_pkg/gimbal_node.py
index b2f3e27..30d75da 100644
--- a/workspace/src/gimbal_control_pkg/gimbal_control_pkg/gimbal_node.py
+++ b/workspace/src/gimbal_control_pkg/gimbal_control_pkg/gimbal_node.py
@@ -66,15 +66,15 @@ class GimbalNode(Node):
             self.get_logger().error(f'Serial write error: {e}')
 
     def _cmd_gimbal_callback(self, msg: Twist):
-        yaw_deg = msg.angular.z
-        pitch_deg = msg.angular.y
+        yaw_vel = float(msg.angular.z)
+        pitch_vel = float(msg.angular.y)
         self.get_logger().debug(
-            f'Manual control: yaw={yaw_deg:.2f}, pitch={pitch_deg:.2f}'
+            f'Manual control: yaw_vel={yaw_vel:.2f} deg/s, '
+            f'pitch_vel={pitch_vel:.2f} deg/s'
         )
         data = bytearray()
         data.append(0xA6)
-        data.append(0)  # zero_force = 0
-        data.extend(struct.pack('<ff', float(yaw_deg), float(pitch_deg)))
+        data.extend(struct.pack('<ff', yaw_vel, pitch_vel))
         data.append(_checksum(data))
         self._write_frame(data)
 
@@ -95,10 +95,10 @@ class GimbalNode(Node):
             self.get_logger().error(f'Invalid PID JSON: {e}')
             return
 
-        v_yaw = pid.get('vision_yaw', {})
-        v_pitch = pid.get('vision_pitch', {})
-        m_yaw = pid.get('motor_yaw', {})
-        m_pitch = pid.get('motor_pitch', {})
+        v_yaw = pid.get('visual_yaw', {})
+        v_pitch = pid.get('visual_pitch', {})
+        m_yaw = pid.get('angle_yaw', {})
+        m_pitch = pid.get('angle_pitch', {})
 
         self.get_logger().info('Sending PID debug tuning frame')
         data = bytearray()
diff --git a/workspace/src/gimbal_control_pkg/test/test_protocol.py b/workspace/src/gimbal_control_pkg/test/test_protocol.py
index 9817239..e64fb54 100644
--- a/workspace/src/gimbal_control_pkg/test/test_protocol.py
+++ b/workspace/src/gimbal_control_pkg/test/test_protocol.py
@@ -52,10 +52,9 @@ def test_manual_control_frame():
     yaw, pitch = 30.0, -15.0
     data = bytearray()
     data.append(0xA6)
-    data.append(0)
     data.extend(struct.pack('<ff', yaw, pitch))
     data.append(_checksum(data))
-    assert len(data) == 11
+    assert len(data) == 10
     assert data[0] == 0xA6