diff --git a/main/bluetooth/gatt_server.c b/main/bluetooth/gatt_server.c
index 26fd559..be6e6da 100644
--- a/main/bluetooth/gatt_server.c
+++ b/main/bluetooth/gatt_server.c
@@ -74,10 +74,10 @@ static const struct ble_gatt_svc_def gatt_svr_svcs[] = {
         .characteristics = (struct ble_gatt_chr_def[]){
 
             {
-                .uuid = &gatt_remoteControll_chr_uuid.u,
+                .uuid = &gatt_remoteControll_chr_PID_uuid.u,
                 .access_cb = gatt_remoteControll_svc_access,
                 .flags = BLE_GATT_CHR_F_READ | BLE_GATT_CHR_F_WRITE | BLE_GATT_CHR_F_NOTIFY | BLE_GATT_CHR_F_WRITE_NO_RSP,
-                .val_handle = &gatt_remoteControll_chr_val_handle,
+                .val_handle = &gatt_remoteControll_chr_PID_val_handle,
             },
             {
                 0, /* No more characteristics in this service. */
diff --git a/main/bluetooth/services/remoteControll.h b/main/bluetooth/services/remoteControll.h
index 88079ab..5d9f3bd 100644
--- a/main/bluetooth/services/remoteControll.h
+++ b/main/bluetooth/services/remoteControll.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-03-03 23:03:17
  * Author: Guoyi
  * -----
- * Last Modified: 2024-03-03 23:31:21
+ * Last Modified: 2024-04-10 23:56:09
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -22,15 +22,72 @@
 #include "services/ans/ble_svc_ans.h"
 #include "../utils/gatt_svr_write.h"
 
+#include "FlightController/PID/config/gyroPID.h"
+#include "FlightController/PID/config/headingPID.h"
+#include "FlightController/PID/config/throttlePID.h"
+
 // ===========================遥控器服务 0xffe0================================== //
 
 /* 服务的uuid */
 static const ble_uuid16_t gatt_remoteControll_svc_uuid = BLE_UUID16_INIT(0xffe0);
 
 /* 服务内的characteristic */
-static uint8_t gatt_remoteControll_chr_val;
-static uint16_t gatt_remoteControll_chr_val_handle;
-static const ble_uuid16_t gatt_remoteControll_chr_uuid = BLE_UUID16_INIT(0xffe1);
+// 1.PID配置
+static uint32_t gatt_remoteControll_chr_PID_val[4 * 3]; // 4个PID配置，每个配置含3个float数据
+static uint16_t gatt_remoteControll_chr_PID_val_handle;
+static const ble_uuid16_t gatt_remoteControll_chr_PID_uuid = BLE_UUID16_INIT(0xffe1);
+
+void convertPIDtoBle()
+{
+    union F1D gyroP, gyroI, gyroD, pitchP, pitchI, pitchD, rollP, rollI, rollD;
+
+    gyroP.f = gyroPIDConfig.P_Weigh;
+    gyroI.f = gyroPIDConfig.I_Weigh;
+    gyroD.f = gyroPIDConfig.D_Weigh;
+    pitchP.f = pitchPIDConfig.P_Weigh;
+    pitchI.f = pitchPIDConfig.I_Weigh;
+    pitchD.f = pitchPIDConfig.D_Weigh;
+    rollP.f = rollPIDConfig.P_Weigh;
+    rollI.f = rollPIDConfig.I_Weigh;
+    rollD.f = rollPIDConfig.D_Weigh;
+
+    gatt_remoteInfo_chr_basic_motion_val[0] = gyroP.i;
+    gatt_remoteInfo_chr_basic_motion_val[1] = gyroI.i;
+    gatt_remoteInfo_chr_basic_motion_val[2] = gyroD.i;
+    gatt_remoteInfo_chr_basic_motion_val[3] = pitchP.i;
+    gatt_remoteInfo_chr_basic_motion_val[4] = pitchI.i;
+    gatt_remoteInfo_chr_basic_motion_val[5] = pitchD.i;
+    gatt_remoteInfo_chr_basic_motion_val[6] = rollP.i;
+    gatt_remoteInfo_chr_basic_motion_val[7] = rollI.i;
+    gatt_remoteInfo_chr_basic_motion_val[8] = rollD.i;
+}
+
+void convertBletoPID()
+{
+    union F1D gyroP, gyroI, gyroD, pitchP, pitchI, pitchD, rollP, rollI, rollD;
+
+    gyroP.i = gatt_remoteInfo_chr_basic_motion_val[0];
+    gyroI.i = gatt_remoteInfo_chr_basic_motion_val[1];
+    gyroD.i = gatt_remoteInfo_chr_basic_motion_val[2];
+    pitchP.i = gatt_remoteInfo_chr_basic_motion_val[3];
+    pitchI.i = gatt_remoteInfo_chr_basic_motion_val[4];
+    pitchD.i = gatt_remoteInfo_chr_basic_motion_val[5];
+    rollP.i = gatt_remoteInfo_chr_basic_motion_val[6];
+    rollI.i = gatt_remoteInfo_chr_basic_motion_val[7];
+    rollD.i = gatt_remoteInfo_chr_basic_motion_val[8];
+
+    gyroPIDConfig.P_Weigh = gyroP.f;
+    gyroPIDConfig.I_Weigh = gyroI.f;
+    gyroPIDConfig.D_Weigh = gyroD.f;
+    pitchPIDConfig.P_Weigh = pitchP.f;
+    pitchPIDConfig.I_Weigh = pitchI.f;
+    pitchPIDConfig.D_Weigh = pitchD.f;
+    rollPIDConfig.P_Weigh = rollP.f;
+    rollPIDConfig.I_Weigh = rollI.f;
+    rollPIDConfig.D_Weigh = rollD.f;
+}
+
+// 读写回调函数
 static int gatt_remoteControll_svc_access(uint16_t conn_handle, uint16_t attr_handle, struct ble_gatt_access_ctxt *ctxt, void *arg);
 static int gatt_remoteControll_svc_access(uint16_t conn_handle, uint16_t attr_handle, struct ble_gatt_access_ctxt *ctxt, void *arg)
 {
@@ -40,26 +97,29 @@ static int gatt_remoteControll_svc_access(uint16_t conn_handle, uint16_t attr_ha
     {
     // 读操作 Append the value to ctxt->om if the operation is READ
     case BLE_GATT_ACCESS_OP_READ_CHR:
-        if (attr_handle == gatt_remoteControll_chr_val_handle)
+        if (attr_handle == gatt_remoteControll_chr_PID_val_handle)
         {
+            convertPIDtoBle();
             rc = os_mbuf_append(ctxt->om,
-                                &gatt_remoteControll_chr_val,
-                                sizeof(gatt_remoteControll_chr_val));
+                                gatt_remoteControll_chr_PID_val,
+                                sizeof(gatt_remoteControll_chr_PID_val));
             return rc == 0 ? 0 : BLE_ATT_ERR_INSUFFICIENT_RES;
         }
         goto unknown;
 
     // 写操作 Write ctxt->om to the value if the operation is WRITE
     case BLE_GATT_ACCESS_OP_WRITE_CHR:
-        if (attr_handle == gatt_remoteControll_chr_val_handle)
+        if (attr_handle == gatt_remoteControll_chr_PID_val_handle)
         {
             rc = gatt_svr_write(ctxt->om,
-                                sizeof(gatt_remoteControll_chr_val),
-                                sizeof(gatt_remoteControll_chr_val),
-                                &gatt_remoteControll_chr_val, NULL);
+                                sizeof(gatt_remoteControll_chr_PID_val),
+                                sizeof(gatt_remoteControll_chr_PID_val),
+                                gatt_remoteControll_chr_PID_val, NULL);
+            // Send notification (or indication) to any connected devices that
+            // have subscribed for notification (or indication) for specified characteristic.
             ble_gatts_chr_updated(attr_handle);
+            convertBletoPID();
             // MODLOG_DFLT(INFO, "Notification/Indication scheduled for all subscribed peers.\n");
-            printf("%d \n", gatt_remoteControll_chr_val);
             return rc;
         }
         goto unknown;
diff --git a/main/bluetooth/services/remoteInfo.h b/main/bluetooth/services/remoteInfo.h
index 37c172f..2c2760d 100644
--- a/main/bluetooth/services/remoteInfo.h
+++ b/main/bluetooth/services/remoteInfo.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-03-11 22:55:56
  * Author: Guoyi
  * -----
- * Last Modified: 2024-03-12 13:37:40
+ * Last Modified: 2024-04-10 23:08:29
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -44,7 +44,7 @@
 static const ble_uuid16_t gatt_remoteInfo_svc_uuid = BLE_UUID16_INIT(0x1022);
 
 /* 服务内的characteristic */
-// 基础运动参数
+// 1.基础运动参数
 static uint32_t gatt_remoteInfo_chr_basic_motion_val[6];
 static uint16_t gatt_remoteInfo_chr_basic_motion_val_handle;
 static const ble_uuid16_t gatt_remoteInfo_chr_basic_motion_uuid = BLE_UUID16_INIT(0x1023);
@@ -66,6 +66,7 @@ void calcBasicMotionVal()
     gatt_remoteInfo_chr_basic_motion_val[5] = gyrz.i;
 }
 
+// 访问回调函数
 static int gatt_remoteInfo_svc_access(uint16_t conn_handle, uint16_t attr_handle, struct ble_gatt_access_ctxt *ctxt, void *arg);
 static int gatt_remoteInfo_svc_access(uint16_t conn_handle, uint16_t attr_handle, struct ble_gatt_access_ctxt *ctxt, void *arg)
 {