diff --git a/main/BMS/BMSTick.h b/main/BMS/BMSTick.h
index 41bcd7d..e553a78 100644
--- a/main/BMS/BMSTick.h
+++ b/main/BMS/BMSTick.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-04-28 22:52:22
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-28 23:10:33
+ * Last Modified: 2024-05-08 00:13:36
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -20,13 +20,27 @@
 
 #define BATTERY_VOLTAGE_LOW_THR (3200)
 #define BATTERY_VOLTAGE_EXTREMELY_LOW_THR (3000)
+#define BATTERY_VOLTAGE_DROP_THR (150)
+
+static void fatalStop()
+{
+    flightState = 0;
+    stopAllMotors(); // 多余的一步。在这里是为了万无一失，确保关停所有电机。
+    flashStatusLED(10, 500);
+}
 
 void BMSTick()
 {
+    batteryVoltagePrev = batteryVoltage;
     batteryVoltage = BMS_ADC_ReadBatteryVoltage();
-    if (batteryVoltage != -1 && batteryVoltage < BATTERY_VOLTAGE_EXTREMELY_LOW_THR){
-        flightState = 0;
-        stopAllMotors(); // 多余的一步。在这里是为了万无一失，确保关停所有电机。
-        flashStatusLED(10, 500);
+
+    // 电压墙策略
+    if (batteryVoltage != -1 && batteryVoltage < BATTERY_VOLTAGE_EXTREMELY_LOW_THR)
+    {
+        fatalStop();
+    }
+    if (batteryVoltagePrev > 0 && batteryVoltagePrev - batteryVoltage > BATTERY_VOLTAGE_DROP_THR)
+    {
+        fatalStop();
     }
 }
diff --git a/main/LED/StatusLED.h b/main/LED/StatusLED.h
index c22dbd8..46652d1 100644
--- a/main/LED/StatusLED.h
+++ b/main/LED/StatusLED.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-04-28 15:07:32
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-28 23:00:13
+ * Last Modified: 2024-05-08 00:04:25
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -20,11 +20,34 @@
 #include "driver/gpio.h"
 
 static gpio_num_t gpio_led_num = GPIO_NUM_23; // 连接LED的GPIO
+static int s_count = 0;
+static int s_duration = 0;
+
+static void flashStatusLEDTask(void *argument)
+{
+    while (1)
+    {
+        xSemaphoreTake(semapHandle, portMAX_DELAY);
+        for (int i = 0; i < *(int *)argument; i++)
+        {
+            enableStatusLED();
+            vTaskDelay(*(int *)(argument + 1) / portTICK_PERIOD_MS);
+            disableStatusLED();
+            vTaskDelay(*(int *)(argument + 1) / portTICK_PERIOD_MS);
+        }
+    }
+}
+static TaskHandle_t flashStatusLEDTaskHandle;
+static SemaphoreHandle_t semapHandle;
 
 void StatusLED_Init()
 {
     // 设置控制LED的GPIO为输出模式
     gpio_set_direction(gpio_led_num, GPIO_MODE_OUTPUT);
+    xTaskCreatePinnedToCore(flashStatusLEDTask, "flashStatusLEDTask",
+                            4096, NULL, 3, flashStatusLEDTaskHandle, 0);
+    // 创建信号量，用于拉起LED频闪任务
+    semapHandle = xSemaphoreCreateBinary();
 }
 
 void enableStatusLED()
@@ -39,13 +62,9 @@ void disableStatusLED()
 
 void flashStatusLED(int count, int duration)
 {
-    for (int i = 0; i < count; i++)
-    {
-        enableStatusLED();
-        vTaskDelay(duration / portTICK_PERIOD_MS);
-        disableStatusLED();
-        vTaskDelay(duration / portTICK_PERIOD_MS);
-    }
+    s_count = count;
+    s_duration = duration;
+    xSemaphoreGive(semapHandle); // 拉起信号量
 }
 
 #endif
diff --git a/main/globalStates/BMSState.h b/main/globalStates/BMSState.h
index 82a5b2c..19818c2 100644
--- a/main/globalStates/BMSState.h
+++ b/main/globalStates/BMSState.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-04-27 12:59:00
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-27 13:20:17
+ * Last Modified: 2024-05-08 00:11:32
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -16,5 +16,6 @@
 #define BMS_STATE_H
 
 int __attribute__((weak)) batteryVoltage = -1;
+int __attribute__((weak)) batteryVoltagePrev = -1;
 
 #endif
diff --git a/main/mpu6050/algorithm/slidingFilter.h b/main/mpu6050/algorithm/slidingFilter.h
index 130fc13..87867f8 100644
--- a/main/mpu6050/algorithm/slidingFilter.h
+++ b/main/mpu6050/algorithm/slidingFilter.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-04-29 21:10:08
  * Author: Guoyi
  * -----
- * Last Modified: 2024-05-02 19:40:40
+ * Last Modified: 2024-05-07 12:33:32
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
diff --git a/main/mpu6050/mpu6050.h b/main/mpu6050/mpu6050.h
index 92d9470..6ba0015 100644
--- a/main/mpu6050/mpu6050.h
+++ b/main/mpu6050/mpu6050.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-03-07 19:55:56
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-29 23:48:41
+ * Last Modified: 2024-05-07 13:56:23
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -58,7 +58,7 @@ void MPU6050_Init()
     uint8_t flag = ESP_OK;
     flag = MPU6050_register_write_byte(PWR_MGMT_1, 0x00);   // 解除休眠状态
     flag = MPU6050_register_write_byte(SMPLRT_DIV, 0x00);   // 陀螺仪采样率。1KHz
-    flag = MPU6050_register_write_byte(CONFIG, 0x06);       // 启用低通滤波。等级为0x05
+    flag = MPU6050_register_write_byte(CONFIG, 0x05);       // 启用低通滤波。等级为0x05
     flag = MPU6050_register_write_byte(GYRO_CONFIG, 0x0);   // 陀螺仪自检及测量范围。不自检，250deg/s
     flag = MPU6050_register_write_byte(ACCEL_CONFIG, 0x01); // 加速计自检、测量范围及高通滤波频率。不自检，2G，5Hz
     if (flag != ESP_OK)