diff --git a/rm_gimbal_controllers/cfg/BulletSolver.cfg b/rm_gimbal_controllers/cfg/BulletSolver.cfg
index d3c0848b..1e5a9535 100755
--- a/rm_gimbal_controllers/cfg/BulletSolver.cfg
+++ b/rm_gimbal_controllers/cfg/BulletSolver.cfg
@@ -12,8 +12,8 @@ gen.add("resistance_coff_qd_18", double_t, 0, "Air resistance divided by mass of
 gen.add("resistance_coff_qd_30", double_t, 0, "Air resistance divided by mass of 10 m/s", 0.1, 0, 5.0)
 gen.add("g", double_t, 0, "Air resistance divided by mass", 9.8, 9.6, 10.0)
 gen.add("delay", double_t, 0, "Delay of bullet firing", 0.0, 0, 0.5)
-gen.add("track_center_next_delay", double_t, 0, "Delay of shoot next target when in center mode", 0.0, 0.105, 0.5)
-gen.add("track_center_second_delay", double_t, 0, "Delay of shoot second target when in center mode", 0.0, 0.105, 0.5)
+gen.add("wait_next_armor_delay", double_t, 0, "Delay of shooting next target when in center mode", 0.0, 0.105, 0.5)
+gen.add("wait_diagonal_armor_delay", double_t, 0, "Delay of shooting diagonal target when in center mode", 0.0, 0.105, 0.5)
 gen.add("dt", double_t, 0, "Iteration interval", 0.01, 0.0001, 0.1)
 gen.add("timeout", double_t, 0, "Flight time exceeded", 2.0, 0.5, 3.0)
 gen.add("ban_shoot_duration", double_t, 0, "Ban shoot duration while beforehand shooting", 0.0, 0.0, 2.0)
diff --git a/rm_gimbal_controllers/include/rm_gimbal_controllers/bullet_solver.h b/rm_gimbal_controllers/include/rm_gimbal_controllers/bullet_solver.h
index 7fb369cd..eb171b8b 100644
--- a/rm_gimbal_controllers/include/rm_gimbal_controllers/bullet_solver.h
+++ b/rm_gimbal_controllers/include/rm_gimbal_controllers/bullet_solver.h
@@ -56,7 +56,7 @@ namespace rm_gimbal_controllers
 struct Config
 {
   double resistance_coff_qd_10, resistance_coff_qd_15, resistance_coff_qd_16, resistance_coff_qd_18,
-      resistance_coff_qd_30, g, delay, track_center_next_delay, track_center_second_delay, dt, timeout,
+      resistance_coff_qd_30, g, delay, wait_next_armor_delay, wait_diagonal_armor_delay, dt, timeout,
       ban_shoot_duration, gimbal_switch_duration, max_switch_angle, min_switch_angle, min_shoot_beforehand_vel,
       max_chassis_angular_vel, track_rotate_target_delay, track_move_target_delay;
   int min_fit_switch_count;
diff --git a/rm_gimbal_controllers/src/bullet_solver.cpp b/rm_gimbal_controllers/src/bullet_solver.cpp
index 3e35a517..7deb568c 100644
--- a/rm_gimbal_controllers/src/bullet_solver.cpp
+++ b/rm_gimbal_controllers/src/bullet_solver.cpp
@@ -51,8 +51,8 @@ BulletSolver::BulletSolver(ros::NodeHandle& controller_nh)
               .resistance_coff_qd_30 = getParam(controller_nh, "resistance_coff_qd_30", 0.),
               .g = getParam(controller_nh, "g", 0.),
               .delay = getParam(controller_nh, "delay", 0.),
-              .track_center_next_delay = getParam(controller_nh, "track_center_next_delay", 0.105),
-              .track_center_second_delay = getParam(controller_nh, "track_center_second_delay", 0.105),
+              .wait_next_armor_delay = getParam(controller_nh, "wait_next_armor_delay", 0.105),
+              .wait_diagonal_armor_delay = getParam(controller_nh, "wait_diagonal_armor_delay", 0.105),
               .dt = getParam(controller_nh, "dt", 0.),
               .timeout = getParam(controller_nh, "timeout", 0.),
               .ban_shoot_duration = getParam(controller_nh, "ban_shoot_duration", 0.0),
@@ -186,9 +186,9 @@ bool BulletSolver::solve(geometry_msgs::Point pos, geometry_msgs::Vector3 vel, d
   {
     target_pos_.x = pos.x - r * cos(atan2(pos.y, pos.x));
     target_pos_.y = pos.y - r * sin(atan2(pos.y, pos.x));
-    if ((v_yaw > 1.0 && (yaw + v_yaw * (fly_time_ + config_.track_center_next_delay) +
+    if ((v_yaw > 1.0 && (yaw + v_yaw * (fly_time_ + config_.wait_next_armor_delay) +
                          selected_armor_ * 2 * M_PI / armors_num) > output_yaw_) ||
-        (v_yaw < -1.0 && (yaw + v_yaw * (fly_time_ + config_.track_center_next_delay) +
+        (v_yaw < -1.0 && (yaw + v_yaw * (fly_time_ + config_.wait_next_armor_delay) +
                           selected_armor_ * 2 * M_PI / armors_num) < output_yaw_))
       selected_armor_ = v_yaw > 0. ? -2 : 2;
     if (selected_armor_ % 2 == 0)
@@ -330,7 +330,7 @@ double BulletSolver::getGimbalError(geometry_msgs::Point pos, geometry_msgs::Vec
   if (track_target_)
     delay = 0.;
   else
-    delay = selected_armor_ % 2 == 0 ? config_.track_center_second_delay : config_.track_center_next_delay;
+    delay = selected_armor_ % 2 == 0 ? config_.wait_diagonal_armor_delay : config_.wait_next_armor_delay;
   double r, z;
   if (selected_armor_ % 2 == 0)
   {
@@ -412,8 +412,8 @@ void BulletSolver::reconfigCB(rm_gimbal_controllers::BulletSolverConfig& config,
     config.resistance_coff_qd_30 = init_config.resistance_coff_qd_30;
     config.g = init_config.g;
     config.delay = init_config.delay;
-    config.track_center_next_delay = init_config.track_center_next_delay;
-    config.track_center_second_delay = init_config.track_center_second_delay;
+    config.wait_next_armor_delay = init_config.wait_next_armor_delay;
+    config.wait_diagonal_armor_delay = init_config.wait_diagonal_armor_delay;
     config.dt = init_config.dt;
     config.timeout = init_config.timeout;
     config.ban_shoot_duration = init_config.ban_shoot_duration;
@@ -434,8 +434,8 @@ void BulletSolver::reconfigCB(rm_gimbal_controllers::BulletSolverConfig& config,
                         .resistance_coff_qd_30 = config.resistance_coff_qd_30,
                         .g = config.g,
                         .delay = config.delay,
-                        .track_center_next_delay = config.track_center_next_delay,
-                        .track_center_second_delay = config.track_center_second_delay,
+                        .wait_next_armor_delay = config.wait_next_armor_delay,
+                        .wait_diagonal_armor_delay = config.wait_diagonal_armor_delay,
                         .dt = config.dt,
                         .timeout = config.timeout,
                         .ban_shoot_duration = config.ban_shoot_duration,