diff --git a/.gitmodules b/.gitmodules
index dc7051b2..0309c91c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,6 @@
 [submodule "lib/host-protocol"]
 	path = lib/host-protocol
-	url = https://github.com/Jiu-xiao/host-protocol.git
+	url =https://github.com/xrobot-org/host-protocol.git
 [submodule "stm32_cmsis"]
 	path = hw/mcu/st/cmsis_device_f4
 	url = https://github.com/STMicroelectronics/cmsis_device_f4.git
@@ -30,10 +30,10 @@
 	url = https://github.com/STMicroelectronics/cmsis_device_f1.git
 [submodule "lib/Kconfiglib"]
 	path = lib/Kconfiglib
-	url = https://github.com/ulfalizer/Kconfiglib
+	url = https://github.com/ulfalizer/Kconfiglib.git
 [submodule "lib/mini_shell"]
 	path = lib/mini_shell
-	url = https://gitee.com/jiu-xiao/mini_shell.git
+	url = https://github.com/Jiu-xiao/mini_shell.git
 [submodule "hw/mcu/st/cmsis_device_f3"]
 	path = hw/mcu/st/cmsis_device_f3
 	url = https://github.com/STMicroelectronics/cmsis_device_f3.git
diff --git a/.gitmodules_cn b/.gitmodules_cn
new file mode 100644
index 00000000..154de610
--- /dev/null
+++ b/.gitmodules_cn
@@ -0,0 +1,63 @@
+[submodule "lib/host-protocol"]
+	path = lib/host-protocol
+	url =https://gitee.com/x-robot/host-protocol.git
+[submodule "stm32_cmsis"]
+	path = hw/mcu/st/cmsis_device_f4
+	url = https://gitee.com/x-robot/cmsis_device_f4.git
+[submodule "stm32_hal"]
+	path = hw/mcu/st/stm32f4xx_hal_driver
+	url = https://gitee.com/x-robot/stm32f4xx_hal_driver.git
+[submodule "freertos"]
+	path = lib/freertos
+	url = https://gitee.com/x-robot/FreeRTOS-Kernel.git
+[submodule "arm_cmsis"]
+	path = lib/cmsis_5
+	url = https://gitee.com/x-robot/CMSIS_5.git
+[submodule "tinyusb"]
+	path = lib/tinyusb
+	url = https://gitee.com/x-robot/tinyusb.git
+[submodule "lib/one-message"]
+	path = lib/one-message
+	url = https://gitee.com/Jiu-xiao/OneMessageCPP.git
+[submodule "lib/cmsis_svd"]
+	path = lib/cmsis_svd
+	url = https://gitee.com/x-robot/cmsis-svd.git
+[submodule "hw/mcu/st/stm32f1xx_hal_driver"]
+	path = hw/mcu/st/stm32f1xx_hal_driver
+	url = https://gitee.com/x-robot/stm32f1xx_hal_driver.git
+[submodule "hw/mcu/st/cmsis_device_f1"]
+	path = hw/mcu/st/cmsis_device_f1
+	url = https://gitee.com/x-robot/cmsis_device_f1.git
+[submodule "lib/Kconfiglib"]
+	path = lib/Kconfiglib
+	url = https://gitee.com/x-robot/Kconfiglib.git
+[submodule "lib/mini_shell"]
+	path = lib/mini_shell
+	url = https://gitee.com/jiu-xiao/mini_shell.git
+[submodule "hw/mcu/st/cmsis_device_f3"]
+	path = hw/mcu/st/cmsis_device_f3
+	url = https://gitee.com/x-robot/cmsis_device_f3.git
+[submodule "hw/mcu/st/stm32f3xx_hal_driver"]
+	path = hw/mcu/st/stm32f3xx_hal_driver
+	url = https://gitee.com/x-robot/stm32f3xx_hal_driver.git
+[submodule "lib/magic_enum"]
+	path = lib/magic_enum
+	url = https://gitee.com/x-robot/magic_enum.git
+[submodule "hw/mcu/st/stm32g4xx_hal_driver"]
+	path = hw/mcu/st/stm32g4xx_hal_driver
+	url = https://gitee.com/x-robot/stm32g4xx_hal_driver.git
+[submodule "hw/mcu/st/cmsis_device_g4"]
+	path = hw/mcu/st/cmsis_device_g4
+	url = https://gitee.com/x-robot/cmsis_device_g4.git
+[submodule "lib/MiniFlashDB"]
+	path = lib/MiniFlashDB
+	url = https://gitee.com/jiu-xiao/MiniFlashDB.git
+[submodule "lib/printf"]
+	path = lib/printf
+	url = https://gitee.com/x-robot/printf.git
+[submodule "hw/mcu/st/stm32g0xx_hal_driver"]
+	path = hw/mcu/st/stm32g0xx_hal_driver
+	url = https://gitee.com/x-robot/stm32g0xx_hal_driver.git
+[submodule "hw/mcu/st/cmsis_device_g0"]
+	path = hw/mcu/st/cmsis_device_g0
+	url = https://gitee.com/x-robot/cmsis_device_g0.git
diff --git a/project.py b/project.py
index 100d9b84..8d93df69 100755
--- a/project.py
+++ b/project.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python3
+#!/usr/bin/env python3
 import random
 import sys
 import os
@@ -545,7 +545,9 @@ def new_robot(name: str):
 elif cmd[1] == "list":
     list_target()
 elif cmd[1] == "init":
-    os.system("sudo apt install cmake ninja-build python3-tk clang clangd")
+    os.system("git submodule init && git submodule update")
+elif cmd[1] == "init-cn":
+    os.system("mv .gitmodules .gitmodules_en && mv .gitmodules_cn .gitmodules && git submodule init && git submodule update")
 elif cmd[1] == "select":
     if cmd_len < 4:
         print("参数错误")
diff --git a/src/module/gimbal/mod_gimbal.cpp b/src/module/gimbal/mod_gimbal.cpp
index 0a2d8874..0d1613b6 100644
--- a/src/module/gimbal/mod_gimbal.cpp
+++ b/src/module/gimbal/mod_gimbal.cpp
@@ -159,16 +159,6 @@ void Gimbal::SetMode(Mode mode) {
   }
 
   this->mode_ = mode;
-
-  memcpy(&(this->setpoint_.eulr_), &(this->eulr_),
-         sizeof(this->setpoint_.eulr_)); /* 切换模式后重置设定值 */
-  if (this->mode_ == RELAX) {
-    if (mode == ABSOLUTE) {
-      this->setpoint_.eulr_.yaw = this->eulr_.yaw;
-    }
-  }
-
-  this->mode_ = mode;
 }
 
 void Gimbal::DrawUIStatic(Gimbal* gimbal) {