diff --git a/1.Hardware/钢网/Gerber_2-PCB_GeekTrack_PCB_v01_2022-09-18.zip b/1.Hardware/钢网/Gerber_2-PCB_GeekTrack_PCB_v01_2022-09-18.zip
new file mode 100644
index 0000000..c27ee43
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diff --git a/2.Firmware/GeekTrack/components/GeekHAL/HAL/HAL_IMU.cpp b/2.Firmware/GeekTrack/components/GeekHAL/HAL/HAL_IMU.cpp
index c8a70bf..c0fe6fc 100644
--- a/2.Firmware/GeekTrack/components/GeekHAL/HAL/HAL_IMU.cpp
+++ b/2.Firmware/GeekTrack/components/GeekHAL/HAL/HAL_IMU.cpp
@@ -41,7 +41,14 @@ void IMU_Update()
 
     imu.steps = Pedometer_Update(imu.ax, imu.ay, imu.az);
 
-    printf("%.2f, %.2f, %.2f\n", imu.acc[0], imu.acc[1], imu.acc[2]);
+    /* Sensor Debug. */
+    float yaw = 0.0f, pitch = 0.0f, roll = 0.0f;
+    MPU9250_GetEulerAngles(&yaw, &roll, &pitch);
+
+    printf("%.2f, %.2f, %.2f\n", yaw, roll, pitch);
+    //printf("%.2f, %.2f, %.2f\n", imu.acc[0], imu.acc[1], imu.acc[2]);
+    //printf("%.2f, %.2f, %.2f\n", imu.gyr[0], imu.gyr[1], imu.gyr[2]);
+
     if (CommitFunc)
     {
         CommitFunc(&imu, UserData);
diff --git a/2.Firmware/GeekTrack/components/Libraries/src/mpu9250.c b/2.Firmware/GeekTrack/components/Libraries/src/mpu9250.c
index 20e4875..63c9f11 100644
--- a/2.Firmware/GeekTrack/components/Libraries/src/mpu9250.c
+++ b/2.Firmware/GeekTrack/components/Libraries/src/mpu9250.c
@@ -107,9 +107,9 @@ void MPU9250_GetEulerAngles(float* yaw,float* roll, float* pitch)
     mpu9250.yaw   = atan2(q2*q1 + q0*q3,0.5f - q2*q2 - q3*q3); // * (180.0f /3.141592f);
     mpu9250.roll  = atan2(q2*q3 + q0*q1,0.5f - q2*q2 - q1*q1); //* (180.0f /3.141592f);
 
-	mpu9250.yaw   = (180.0f / 3.141592f);
-	mpu9250.roll  = (180.0f / 3.141592f);
-	mpu9250.pitch = (180.0f / 3.141592f);
+	mpu9250.yaw   *= (180.0f / 3.141592f);
+	mpu9250.roll  *= (180.0f / 3.141592f);
+	mpu9250.pitch *= (180.0f / 3.141592f);
 
 	*yaw   = mpu9250.yaw;   
 	*roll  = mpu9250.roll;  
diff --git a/3.Docs/GeekTrackv2.xmind b/3.Docs/GeekTrackv2.xmind
new file mode 100644
index 0000000..3e12b61
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