diff --git a/MDK-ARM/LWIP.uvguix.29643 b/MDK-ARM/LWIP.uvguix.29643
index a2510f0..6cdf161 100644
--- a/MDK-ARM/LWIP.uvguix.29643
+++ b/MDK-ARM/LWIP.uvguix.29643
@@ -93,8 +93,8 @@
       <flags>0</flags>
       <showCmd>1</showCmd>
       <MinPosition>
-        <xPos>-1</xPos>
-        <yPos>-1</yPos>
+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
@@ -1822,7 +1822,7 @@
         <Name>Build</Name>
         <Buttons>
           <Len>968</Len>
-          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000002001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA0000000000000000000000000000000000000000000000000100000001000000960000000300205000000000044C57495096000000000000000100044C574950000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
+          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA0000000000000000000000000000000000000000000000000100000001000000960000000300205000000000044C57495096000000000000000100044C574950000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
         </Buttons>
         <OriginalItems>
           <Len>583</Len>
@@ -3661,8 +3661,8 @@
       <Doc>
         <Name>..\usersrc\encoder.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>55</TopLine>
-        <CurrentLine>77</CurrentLine>
+        <TopLine>1</TopLine>
+        <CurrentLine>9</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3742,7 +3742,7 @@
       <Doc>
         <Name>..\usersrc\udpclient.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>270</TopLine>
+        <TopLine>271</TopLine>
         <CurrentLine>293</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
diff --git a/usersrc/encoder.c b/usersrc/encoder.c
index e05e4e8..c12c2ee 100644
--- a/usersrc/encoder.c
+++ b/usersrc/encoder.c
@@ -3,6 +3,11 @@
 #include <stdio.h>
 #include "zport.h"
 
+static encoder_light_state_t camera_encoder_state = STANDBY;
+static encoder_light_state_t driven_encoder_gear_state = STANDBY;
+static uint32_t camera_encoder_lastprocess = 0;
+static uint32_t driven_encoder_gear_lastprocess = 0;
+
 static encoder_t m_uarts[] = {
     {&camera_encoder, TIM_CHANNEL_1 | TIM_CHANNEL_2},     // 相机编码器
     {&driven_encoder_gear, TIM_CHANNEL_1 | TIM_CHANNEL_2} // 从动编码器
@@ -68,10 +73,66 @@ bool encoder_read_with_encoder(encoder_usage_t encoder, uint32_t *encoder_value)
 
 void encoder_light_schedule(void)
 {
-    static uint32_t lastprocess = 0;
-    if (sys_haspassedms(lastprocess) > 500)
+    if (camera_encoder_state == STANDBY)
+    {
+        if (sys_haspassedms(camera_encoder_lastprocess) > 500)
+        {
+            camera_encoder_lastprocess = HAL_GetTick();
+            HAL_GPIO_TogglePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin);
+        }
+    }
+
+    if (driven_encoder_gear_state == STANDBY)
+    {
+        if (sys_haspassedms(camera_encoder_lastprocess) > 500)
+        {
+            driven_encoder_gear_lastprocess = HAL_GetTick();
+            // HAL_GPIO_TogglePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin);
+        }
+    }
+}
+
+void encoder_set_state(encoder_usage_t encoder, encoder_light_state_t state)
+{
+    /* 主动上报的时候常亮，接收到触发指令直接翻转led，待机中0.5s周期闪烁 */
+    if (encoder == CAMERA_ENCODER)
+    {
+        camera_encoder_state = state;
+        if (state == STANDBY)
+        {
+            camera_encoder_lastprocess = HAL_GetTick();
+            HAL_GPIO_TogglePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin);
+        }
+        else if (state == WORKING)
+        {
+            /* 如果工作状态的时候触发了genlock等，灯的状态不应该变成待机状态，只有同为待机的时候闪烁，上层写的时候需要加判断 */
+            HAL_GPIO_WritePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin, GPIO_PIN_RESET);
+        }
+    }
+    else if (encoder == DRIVEN_ENCODER_GEAR)
+    {
+        driven_encoder_gear_state = state;
+        if (state == STANDBY)
+        {
+            driven_encoder_gear_lastprocess = HAL_GetTick();
+            // HAL_GPIO_TogglePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin);
+        }
+        else if (state == WORKING)
+        {
+            // HAL_GPIO_WritePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin, GPIO_PIN_SET);
+        }
+    }
+}
+
+encoder_light_state_t encoder_get_state(encoder_usage_t encoder)
+{
+    if (encoder == CAMERA_ENCODER)
+    {
+        return camera_encoder_state;
+    }
+    else if (encoder == DRIVEN_ENCODER_GEAR)
     {
-        lastprocess = HAL_GetTick();
-        HAL_GPIO_TogglePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin);
+        return driven_encoder_gear_state;
     }
+    return ENCODER_STATE_NUMBER_AND_ERR_STATE;
 }
diff --git a/usersrc/encoder.h b/usersrc/encoder.h
index 62c280c..bc52d1f 100644
--- a/usersrc/encoder.h
+++ b/usersrc/encoder.h
@@ -6,8 +6,16 @@ typedef enum
 {
     CAMERA_ENCODER = 0X00,
     DRIVEN_ENCODER_GEAR = 0X01,
+    ENCODER_NUMBER,
 } encoder_usage_t;
 
+typedef enum
+{
+    STANDBY = 0X00,
+    WORKING = 0X01,
+    ENCODER_STATE_NUMBER_AND_ERR_STATE,
+} encoder_light_state_t;
+
 typedef struct
 {
     TIM_HandleTypeDef *tim_handler;
@@ -20,3 +28,5 @@ bool encoder_clear_counter(encoder_usage_t encoder);
 void encoder_all_clear_counter(void);
 bool encoder_read_with_encoder(encoder_usage_t encoder, uint32_t *encoder_value);
 void encoder_light_schedule(void);
+void encoder_set_state(encoder_usage_t encoder, encoder_light_state_t state);
+encoder_light_state_t encoder_get_state(encoder_usage_t encoder);
diff --git a/usersrc/udpclient.c b/usersrc/udpclient.c
index e1b9e17..f4627e6 100644
--- a/usersrc/udpclient.c
+++ b/usersrc/udpclient.c
@@ -100,6 +100,20 @@ static void udp_client_active_response(void)
     }
 }
 
+static void udp_client_all_encoder_light_set(encoder_light_state_t state)
+{
+    if (state == STANDBY)
+    {
+        encoder_set_state(CAMERA_ENCODER, STANDBY);
+        encoder_set_state(DRIVEN_ENCODER_GEAR, STANDBY);
+    }
+    else if (state == WORKING)
+    {
+        encoder_set_state(CAMERA_ENCODER, WORKING);
+        encoder_set_state(DRIVEN_ENCODER_GEAR, WORKING);
+    }
+}
+
 void udp_client_recv_data_dump(int recv_datalen)
 {
     /* debug使用 */
@@ -219,12 +233,25 @@ void udp_client_parse(int recv_datalen)
             cmd_checksum(get_encoder_cmd);
             udp_client_create_get_encoder_response(get_encoder_cmd, recv_datalen);
 
+            if (!udp_client_active_flag)
+            {
+                udp_client_all_encoder_light_set(STANDBY);
+            }
+
             break;
         case CMD_SET_ACTIVE: /* 设置主动上报 */
             cmd_checksum(rxcmd);
             if ((rxcmd->data == AVTIVE_DISABLE) || (rxcmd->data == ACTIVE_ENABLE))
             {
                 udp_client_active_flag = rxcmd->data;
+                if (udp_client_active_flag)
+                {
+                    udp_client_all_encoder_light_set(WORKING);
+                }
+                else
+                {
+                    udp_client_all_encoder_light_set(STANDBY);
+                }
             }
             udp_client_create_basic_response(rxcmd, recv_datalen);
             break;
@@ -280,6 +307,11 @@ void udp_client_genlock_and_esync_active(void)
         active_report_data_structer_update();
         udp_client_active_response();
 
+        if (!udp_client_active_flag)
+        {
+            udp_client_all_encoder_light_set(STANDBY);
+        }
+
         active_report_data_structer.index += 1;
         active_report_data_structer.time_stamp_s = 0;
         genlock_and_esync_active_flag = false;