diff --git a/agent.py b/agent.py
index 6e1269b..18eba90 100644
--- a/agent.py
+++ b/agent.py
@@ -29,7 +29,8 @@ class UAV:
 
         self.send_rc_control = False
         self.manual_control = ManualControl(self)
-        self.status = Status.INIT
+        self.auto_control = AutoControl(self)
+        self.status = Status.DETECT
 
         self.frame_queue = Queue(maxsize=1)  # 用于存放视频帧, 1用于避免帧堆积
     
@@ -88,9 +89,14 @@ class UAV:
                 self.keep_recording = False
                 cv2.destroyAllWindows()
 
-    def auto_control(self):
-        if self.status == Status.INIT:
-            pass
+    def auto_track_land(self):
+
+        if self.status == Status.INIT or self.status == Status.TRACKING:
+            front_img = self.frame_queue.get()
+            if self.status == Status.DETECT:
+                self.auto_control.detect(front_img=front_img)
+            elif self.status == Status.TRACK:
+                self.auto_control.track(front_img=front_img)
 
         
             
diff --git a/control.py b/control.py
index cf228c2..c5a8161 100644
--- a/control.py
+++ b/control.py
@@ -91,8 +91,7 @@ class AutoControl:
         self.target = [0, 0, 0, 0]
         self.pid = PIDController(1, 0, 0, time.time())
 
-    def detect(self):
-        front_img = self.uav.frame_queue.get()
+    def detect(self, front_img):
         cv2.imshow("ROI select", front_img[:, :, 0:3])
         self.gROI = cv2.selectROI("ROI select", front_img[:, :, 0:3], False)
         if (not self.gROI):
@@ -101,11 +100,16 @@ class AutoControl:
         self.gTracker = Tracker(tracker_type="KCF")
         self.gTracker.initWorking(front_img[:, :, 0:3], self.gROI)
         print("start tracking")
-        self.uav.status = Status.TRACKING
+        self.uav.status = Status.TRACK
         cv2.destroyWindow("ROI select")
 
-    def track(self):
-        front_img = self.uav.frame_queue.get()
+    def track(self, front_img):
+        _item = self.gTracker.track(front_img)
+        if _item.message:
+            self.target = _item.getMessage()['target']
+            
+        else:
+            return None
 
 
 class FakeUAV: