diff --git a/Energy/HitWindmills/Serial/nucCommu.h b/Energy/HitWindmills/Serial/nucCommu.h
index 02cca56954a4ce1c11c80dc9bb2bd4686507bc63..f15a1728310ed3aea38d732e436194ad797a4a59 100644
--- a/Energy/HitWindmills/Serial/nucCommu.h
+++ b/Energy/HitWindmills/Serial/nucCommu.h
@@ -24,8 +24,9 @@ typedef struct
     fp32 theta;                     // 4 5 6 7 r与z轴夹角,弧度制单位，范围0-PI
     fp32 phi;                       // 8 9 10 11 r在xy平面投影与x正方向夹角，范围0-2*PI
     fp32 r;                         // 12 13 14 15 目标与摄像机距离,单位 米
-    uint16_t detectedColor;         //16 17识别出来的目标物颜色
-    uint16_t reserved[4];           //18 19 20 21 22 23 24 25保留位，用于以后制造全自动步兵时，单片机与nuc交互
+    uint16_t nucSayWeShouldShootNow;    //18 19 NUC传递的参数。uint16_t allowAutoShoot;   参考设计手册：操作手按住鼠标右键不放，在开启自瞄的情况下，才允许NUC控制发射
+                                        //1表示发射，0表示不发射
+    uint16_t reserved[3];           // 20 21 22 23 24 25保留位，用于以后制造全自动步兵时，单片机与nuc交互
     uint16_t endFlag;               //26 27 结束标志
 } toSTM32_t;
 
diff --git a/Energy/HitWindmills/Serial/sendDataToSTM.cpp b/Energy/HitWindmills/Serial/sendDataToSTM.cpp
index 37245fa50154bfcd00f303107b540d8da2da4c8e..001458dc76451664258099ad5066e2a74672c09e 100644
--- a/Energy/HitWindmills/Serial/sendDataToSTM.cpp
+++ b/Energy/HitWindmills/Serial/sendDataToSTM.cpp
@@ -25,7 +25,8 @@ bool sendTargetData(
     fp32 phi,                       // 8 9 10 11 r鍦▁y骞抽潰鎶曞奖涓巟姝ｆ柟鍚戝す瑙掞紝鑼冨洿0-2*PI
     fp32 r,                         // 12 13 14 15 鐩爣涓庢憚鍍忔満璺濈,鍗曚綅 绫�
     uint16_t detectedColor,         //16 17璇嗗埆鍑烘潵鐨勭洰鏍囩墿棰滆壊
-    int found                       //鎵惧埌銆�1涓烘壘鍒颁簡瑁呯敳鏉匡紝0涓烘湭鎵惧埌瑁呯敳鏉�
+    int found,                       //鎵惧埌銆�1涓烘壘鍒颁簡瑁呯敳鏉匡紝0涓烘湭鎵惧埌瑁呯敳鏉�
+    int shoot                       //鍙戝皠锛�1涓哄彂灏勶紝0涓轰笉鍙戝皠
 )
 {
     // if(found)
@@ -70,5 +71,6 @@ bool sendTargetData(
     sendBuff_all.r=r;
     sendBuff_all.detectedColor=detectedColor;
     sendBuff_all.endFlag=SEND_END;
+    sendBuff_all.nucSayWeShouldShootNow = shoot;
     return serial.WriteData(sendBuffForceAll,sizeof(toSTM32_t));
 }
diff --git a/Energy/HitWindmills/Serial/sendDataToSTM.h b/Energy/HitWindmills/Serial/sendDataToSTM.h
index 6bd1bbcf8b82b8ae52eb5a560975ce35ba70109b..5369bff50c9e1416037656a244db5c67c45a6234 100644
--- a/Energy/HitWindmills/Serial/sendDataToSTM.h
+++ b/Energy/HitWindmills/Serial/sendDataToSTM.h
@@ -20,7 +20,8 @@ bool sendTargetData(
     fp32 phi,                       // 8 9 10 11 r鍦▁y骞抽潰鎶曞奖涓巟姝ｆ柟鍚戝す瑙掞紝鑼冨洿0-2*PI
     fp32 r,                         // 12 13 14 15 鐩爣涓庢憚鍍忔満璺濈,鍗曚綅 绫�
     uint16_t detectedColor,         //16 17璇嗗埆鍑烘潵鐨勭洰鏍囩墿棰滆壊
-    int found                       //鎵惧埌銆�1涓烘壘鍒颁簡瑁呯敳鏉匡紝0涓烘湭鎵惧埌瑁呯敳鏉�
+    int found,                       //鎵惧埌銆�1涓烘壘鍒颁簡瑁呯敳鏉匡紝0涓烘湭鎵惧埌瑁呯敳鏉�
+    int shoot                       //鍙戝皠锛�1涓哄彂灏勶紝0涓轰笉鍙戝皠
 );
 
 #endif
diff --git a/Energy/HitWindmills/main.cpp b/Energy/HitWindmills/main.cpp
index f83f8df41564665f55954ee14fafd5d32e463d13..db709d4e9131102cfe9577a4961bca871a3341ae 100644
--- a/Energy/HitWindmills/main.cpp
+++ b/Energy/HitWindmills/main.cpp
@@ -284,12 +284,12 @@ int main(){
                     newSolver.solve(armor_Points, rrect.center, image.size(), yaw, pitch, r);
                     cout << "Solved:  yaw = " << yaw << 
                             "\tpitch = "<<  pitch << "\tDistance = " << r <<  "m" << endl;
-                    sendTargetData(pitch, yaw, r, COLOR_RED, 1);
+                    sendTargetData(pitch, yaw, r, COLOR_RED, 1,1);  //鍙戝皠
                 }
             }
             else{
                 // No target
-                sendTargetData(0.0f, 0.0f, 0.0f, COLOR_RED, 0);
+                sendTargetData(0.0f, 0.0f, 0.0f, COLOR_RED, 0,0);   //涓嶅彂灏�
                 }
         }
 #ifdef SHOWPIC
diff --git a/Serial/nucCommu.h b/Serial/nucCommu.h
index 02cca56954a4ce1c11c80dc9bb2bd4686507bc63..de673da9401d8c9f3c541c7af8acae3d6aef27be 100644
--- a/Serial/nucCommu.h
+++ b/Serial/nucCommu.h
@@ -25,7 +25,9 @@ typedef struct
     fp32 phi;                       // 8 9 10 11 r在xy平面投影与x正方向夹角，范围0-2*PI
     fp32 r;                         // 12 13 14 15 目标与摄像机距离,单位 米
     uint16_t detectedColor;         //16 17识别出来的目标物颜色
-    uint16_t reserved[4];           //18 19 20 21 22 23 24 25保留位，用于以后制造全自动步兵时，单片机与nuc交互
+    uint16_t nucSayWeShouldShootNow;    //18 19 NUC传递的参数。uint16_t allowAutoShoot;   参考设计手册：操作手按住鼠标右键不放，在开启自瞄的情况下，才允许NUC控制发射
+                                        //1表示发射，0表示不发射
+    uint16_t reserved[3];           // 20 21 22 23 24 25保留位，用于以后制造全自动步兵时，单片机与nuc交互
     uint16_t endFlag;               //26 27 结束标志
 } toSTM32_t;